code: def download(self):
      log.info(
          "WARNING: You need to first download the kitti dataset (velodyne laser data) on this website"
      )
      log.info("http://www.cvlibs.net/datasets/kitti/eval_odometry.php")
      log.info("you also need to download the refined pose here")
      log.info(
          "https://cloud.mines-paristech.fr/index.php/s/1t1CdXxv4i2v1zC"
      )
      log.info("WARNING: ")
      log.info("the tree should look like this:")
      log.info(
          """
          raw
          ├── dataset
          │   ├── refined_poses
          │   └── sequences
          │       ├── 00
          │       │   └── velodyne
          │       ├── 01
          │       │   └── velodyne
          │       ├── 02
          │       │   └── velodyne
          │       ├── 03
          │       │   └── velodyne
          │       ├── 04
          │       │   └── velodyne
          │       ├── 05
          │       │   └── velodyne
          │       ├── 06
          │       │   └── velodyne
          │       ├── 07
          │       │   └── velodyne
          │       ├── 08
          │       │   └── velodyne
          │       ├── 09
          │       │   └── velodyne
          │       ├── 10
          │       │   └── velodyne
  
          """
      )
  
imports: import glob
  import json
  import logging
  import numpy
  import os
  import os.path
  import shutil
  import torch
  from torch_geometric.data import Dataset, download_url, extract_zip
  from torch_geometric.data import Data
  from torch_points3d.datasets.registration.detector import RandomDetector
  from torch_points3d.datasets.registration.utils import rgbd2fragment_rough
  from torch_points3d.datasets.registration.utils import rgbd2fragment_fine
  from torch_points3d.datasets.registration.utils import compute_overlap_and_matches
  from torch_points3d.datasets.registration.utils import to_list
  from torch_points3d.datasets.registration.utils import files_exist
  from torch_points3d.datasets.registration.utils import makedirs
  from torch_points3d.datasets.registration.utils import get_urls
  from torch_points3d.datasets.registration.utils import PatchExtractor
label_desc: Use image node_id 4 for calling the BaseKitti obj's underlying member method code with example usage: obj.download() without return types