Merge branch 'main' into feat/ground_seg_annotation

tier4 · Jan 18, 2025 · 15762bc · 15762bc
2 parents 29553ae + 1845352
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diff --git a/.gitignore b/.gitignore
@@ -4,6 +4,7 @@ tests/scale_to_t4/data_test_scale_to_t4_converter/output_base
 /data*/
 /notebooks/data/
 /tests/data
+/label_data*
 
 # ros
 /src

diff --git a/config/convert_fastlabel_to_t4.yaml b/config/convert_fastlabel_to_t4.yaml
@@ -0,0 +1,24 @@
+task: convert_fastlabel_to_t4
+description:
+  visibility:
+    full: "No occlusion of the object."
+    most: "Object is occluded, but by less than 50%."
+    partial: "The object is occluded by more than 50% (but not completely)."
+    none: "The object is 90-100% occluded and no points/pixels are visible in the label."
+  camera_index:
+    CAM_FRONT_NARROW: 0
+    CAM_FRONT_WIDE: 1
+    CAM_FRONT_RIGHT: 2
+    CAM_BACK_RIGHT: 3
+    CAM_BACK_NARROW: 4
+    CAM_BACK_WIDE: 5
+    CAM_BACK_LEFT: 6
+    CAM_FRONT_LEFT: 7
+
+conversion:
+  make_t4_dataset_dir: false # If true, the output directory includes t4_dataset directory (such as "scene_dir"/t4_dataset/data|annotation). If false, "scene_dir"/data|annotation.
+  input_base: ./data/non_annotated_t4_format
+  input_anno_base: ./data/fastlabel/pcd_annotation
+  output_base: ./data/t4_format
+  input_bag_base: null  #optional
+  topic_list: null  #necessary if input_bag_base is not null
diff --git a/...s_rosbag2_to_non_annotated_t4_sample.yaml → ...vert_rosbag2_to_non_annotated_t4_drs.yaml b/...s_rosbag2_to_non_annotated_t4_sample.yaml → ...vert_rosbag2_to_non_annotated_t4_drs.yaml
@@ -4,33 +4,40 @@ description:
 conversion:
   input_base: ./data/rosbag2
   output_base: ./data/non_annotated_t4_format
-  world_frame_id: "map"
+  world_frame_id: "base_link"
   start_timestamp_sec: 0 # Enter here if there is a timestamp for the start time. If not used, enter 0.
-  skip_timestamp: 2.0 # Do not load data for the first point cloud timestamp for skip_timestamp seconds.
+  skip_timestamp: 0.5 # Do not load data for the first point cloud timestamp for skip_timestamp seconds.
   num_load_frames: 0 # Maximum number of frames to save as t4 data. Set to 0 to automatically set it based on the number of lidar topics.
-  accept_frame_drop: False # If true, the conversion will continue even if the LiDAR frame is dropped.
+  accept_frame_drop: true # If true, the conversion will continue even if the LiDAR frame is dropped.
+  undistort_image: true # If true, the camera image will be undistorted.
   with_ins: true            # whether to use INS messages as a ego state instead of `/tf`
-  with_vehicle_status: true # whether to generate `vehicle_state.json`
+  with_vehicle_status: false # whether to generate `vehicle_state.json`
   # The following configuration is generally not modified unless there are changes to the vehicle sensor configuration.
   lidar_sensor:
     topic: /sensing/lidar/concatenated/pointcloud
     channel: LIDAR_CONCAT
   camera_sensors: #  Keep the same order as each camera exposure timing
-    - topic: /sensing/camera/camera3/image_raw/compressed
-      channel: CAM_BACK_LEFT
-      delay_msec: 48.33
-    - topic: /sensing/camera/camera2/image_raw/compressed
-      channel: CAM_FRONT_LEFT
-      delay_msec: 65.0
     - topic: /sensing/camera/camera0/image_raw/compressed
-      channel: CAM_FRONT
-      delay_msec: 81.67
-    - topic: /sensing/camera/camera4/image_raw/compressed
+      channel: CAM_FRONT_NARROW
+      delay_msec: 16.0
+    - topic: /sensing/camera/camera1/image_raw/compressed
+      channel: CAM_FRONT_WIDE
+      delay_msec: 16.0
+    - topic: /sensing/camera/camera2/image_raw/compressed
       channel: CAM_FRONT_RIGHT
-      delay_msec: 98.33
-    - topic: /sensing/camera/camera5/image_raw/compressed
+      delay_msec: -9.0
+    - topic: /sensing/camera/camera3/image_raw/compressed
       channel: CAM_BACK_RIGHT
-      delay_msec: 115.0
-    - topic: /sensing/camera/camera1/image_raw/compressed
-      channel: CAM_BACK
-      delay_msec: 131.67
+      delay_msec: -59.0
+    - topic: /sensing/camera/camera4/image_raw/compressed
+      channel: CAM_BACK_NARROW
+      delay_msec: -34.0
+    - topic: /sensing/camera/camera5/image_raw/compressed
+      channel: CAM_BACK_WIDE
+      delay_msec: -84.0
+    - topic: /sensing/camera/camera6/image_raw/compressed
+      channel: CAM_BACK_LEFT
+      delay_msec: -59.0
+    - topic: /sensing/camera/camera7/image_raw/compressed
+      channel: CAM_FRONT_LEFT
+      delay_msec: -59.0
diff --git a/config/download_fastlabel_annotations.yaml b/config/download_fastlabel_annotations.yaml
@@ -0,0 +1,16 @@
+task: donwload_fastlabel
+conversion:
+  output: label_data
+  access_token:
+  target_project_slug_keyword:
+    - 202405-lidar-3d-bbox
+    - 202405-panoptic-segmentation
+    - 202405-license-plate-person-head-bbox
+    - 202405-traffic-light-recognition
+    - 3d-lidar-bbox
+    - 3d-lidar-bbox
+    - 3d-lidar-bbox
+    - 3d-lidar-bbox
+    - panoptic-segmentation
+    - traffic-light-recognition
+    - license-plate-person-head
diff --git a/config/label/object.yaml b/config/label/object.yaml
@@ -4,6 +4,7 @@ bus: [bus, BUS, vehicle.bus, vehicle.bus (bendy & rigid)]
 car:
   [
     car,
+    cars,
     CAR,
     vehicle.car,
     vehicle.construction,
@@ -26,6 +27,8 @@ pedestrian:
     pedestrian.adult,
     pedestrian.child,
   ]
+other_pedestrian: [other_pedestrian]
+other_vehicle: [other_vehicle]
 truck: [truck, TRUCK, vehicle.truck]
 trailer: [trailer, TRAILER, vehicle.trailer]
 ambulance: [ambulance, AMBULANCE, vehicle.ambulance]
@@ -53,3 +56,38 @@ stroller: [stroller, STROLLER, pedestrian.stroller]
 police_officer: [police_officer, POLICE_OFFICER, pedestrian.police_officer]
 wheelchair: [wheelchair, WHEELCHAIR, pedestrian.wheelchair]
 forklift: [forklift, FORKLIFT]
+train: [train, TRAIN]
+cone: [cone]
+curb: [curb]
+gate: [gate]
+guide_post: [guide_post]
+construction: [constructions, construction]
+traffic_sign: [traffic_sign]
+road_debris: [road_debris]
+other_obstacle: [other_obstacle]
+obstacle_others: [obstacle_others]
+laneline_solid_white: [laneline_solid_white]
+laneline_dash_white: [laneline_dash_white]
+laneline_solid_yellow: [laneline_solid_yellow]
+laneline_dash_yellow: [laneline_dash_yellow]
+laneline_solid_green: [laneline_solid_green]
+laneline_solid_red: [laneline_solid_red]
+deceleration_line: [deceleration_line]
+dashed_lane_marking: [dashed_lane_markings, dash_lane_markings, dashed_lane_marking, dash_white_merge, dash_white_branch]
+stopline: [stopline]
+crosswalk: [crosswalk]
+marking_character: [marking_character]
+marking_arrow: [marking_arrow]
+striped_road_marking: [striped_road_markings, striped_road_marking]
+parking_lot: [parking_lot]
+marking_other: [marking_other]
+road: [road]
+road_paint_lane_solid_white: [road_paint_lane_solid_white]
+road_paint_lane_dash_white: [road_paint_lane_dash_white]
+sidewalk: [sidewalk]
+building: [building, buildling] # typo
+wall/fence: [wall_fence, wall/fence]
+pole: [pole]
+vegetation/terrain: [vegetation_terrain, vegetation/terrain]
+sky: [sky]
+traffic_light: [traffic_light]
diff --git a/config/label/surface.yaml b/config/label/surface.yaml
@@ -4,8 +4,10 @@
 - sidewalk
 - building
 - wall_fence
+- wall/fence
 - pole
 - vegetation_terrain
+- vegetation/terrain
 - sky
 - road_paint_lane_solid_white
 - road_paint_lane_dash_white
diff --git a/config/update_t4_with_fastlabel_sample.yaml b/config/update_t4_with_fastlabel_sample.yaml
@@ -0,0 +1,23 @@
+task: update_t4_with_fastlabel
+description:
+  visibility:
+    full: "No occlusion of the object."
+    most: "Object is occluded, but by less than 50%."
+    partial: "The object is occluded by more than 50% (but not completely)."
+    none: "The object is 90-100% occluded and no points/pixels are visible in the label."
+  camera_index:
+    CAM_FRONT_NARROW: 0
+    CAM_FRONT_WIDE: 1
+    CAM_FRONT_RIGHT: 2
+    CAM_BACK_RIGHT: 3
+    CAM_BACK_NARROW: 4
+    CAM_BACK_WIDE: 5
+    CAM_BACK_LEFT: 6
+    CAM_FRONT_LEFT: 7
+  surface_categories: ./config/label/surface.yaml
+
+conversion:
+  make_t4_dataset_dir: false # If true, the output directory includes t4_dataset directory (such as "scene_dir"/t4_dataset/data|annotation). If false, "scene_dir"/data|annotation.
+  input_base: ./data/input_t4_format # could be non_annotated_t4_format or t4_format_3d_annotated
+  input_anno_base: ./data/fastlabel
+  output_base: ./data/output_t4_format # currently, this only includes the 2D annotations
diff --git a/docs/t4_format_3d_detailed.md b/docs/t4_format_3d_detailed.md
@@ -355,6 +355,53 @@ Ego_pose represents the pose of the ego vehicle at a specific timestamp.
 This includes both the vehicle's position and orientation in space, typically referenced in a global coordinate system such as the map or odometry frame.  
 The concept is based on [nuScenes](https://arxiv.org/pdf/1903.11027) and [nuPlan](https://nuplan-devkit.readthedocs.io/en/latest/nuplan_schema.html#ego-pose).
 
+#### Recording Options
+
+There are 2 options to retrieve the corresponding ego pose record, which are using `/tf` or INS message.
+
+Note that during recording, each record is result in interpolating at the timestamp corresponding to the particular sensor data.
+
+##### With `/tf` message
+
+In this option, it is assumed that input RosBag contains `/tf` message.
+
+> [!WARNING]
+> This option does not record `velocity`, `acceleration` and `geocoordinate` fields.
+
+In order to enable to create ego pose records using `/tf` message, set `with_ins: false` in your configuration:
+
+```yaml
+task: convert_rosbag2_to_non_annotated_t4
+description:
+  scene: ""
+conversion:
+  ...
+  with_ins: false # use `/tf` message
+  ...
+```
+
+##### With INS messages
+
+In this option, it is assumed that input RosBag contains following messages, which are related to INS.
+
+|          Topic          |            Type             | Description                                                          |
+| :---------------------: | :-------------------------: | -------------------------------------------------------------------- |
+|  `/ins/oxts/odometry`   |   `nav_msgs/msg/Odometry`   | An estimate of a position and velocity in free space.                |
+|     `/ins/oxts/imu`     |    `sensor_msgs/msg/Imu`    | An IMU (Internal Measurement Unit) data.                             |
+| `/ins/oxts/nav_sat_fix` | `sensor_msgs/msg/NavSatFix` | Navigation Satellite fix for any Global Navigation Satellite System. |
+
+In order to enable to create ego pose records using INS message, set `with_ins: true` in your configuration:
+
+```yaml
+task: convert_rosbag2_to_non_annotated_t4
+description:
+  scene: ""
+conversion:
+  ...
+  with_ins: true # use INS messages
+  ...
+```
+
 #### Items
 
 - ego_pose

diff --git a/docs/tools_overview.md b/docs/tools_overview.md
@@ -177,18 +177,20 @@ output: T4 format data
 
 This function is for converting a synthetic bag to T4 format.
 Synthetic bag must contain ground truth objects, pointclouds and tf.
-`ground_truth/objects` can be either `autoware_auto_perception_msgs/msg/DetectedObjects` or `autoware_auto_perception_msgs/msg/TrackedObjects`.
+`ground_truth/objects` can be either `autoware_perception_msgs/msg/DetectedObjects` or `autoware_perception_msgs/msg/TrackedObjects`.
+
+Note that `autoware_auto_perception_msgs` is going to be deprecated (timeline TBD).
 
 #### Messages
 
-| Topic Name                                                  | Required | Message Type                                        |
-| ----------------------------------------------------------- | -------- | --------------------------------------------------- |
-| `/ground_truth/filtered/objects` or `/ground_truth/objects` | o        | `autoware_auto_perception_msgs/msg/DetectedObjects` |
-| `/sensing/lidar/concatenated/pointcloud`                    | o        | `sensor_msgs/msg/PointCloud2`                       |
-| `/tf`                                                       | o        | `tf2_msgs/msg/TFMessage`                            |
-| `/tf_static`                                                | o        | `tf2_msgs/msg/TFMessage`                            |
-|                                                             |          | `sensor_msgs/msg/CompressedImage`                   |
-|                                                             |          | `sensor_msgs/msg/CameraInfo`                        |
+| Topic Name                                                  | Required | Message Type                                   |
+| ----------------------------------------------------------- | -------- | ---------------------------------------------- |
+| `/ground_truth/filtered/objects` or `/ground_truth/objects` | o        | `autoware_perception_msgs/msg/DetectedObjects` |
+| `/sensing/lidar/concatenated/pointcloud`                    | o        | `sensor_msgs/msg/PointCloud2`                  |
+| `/tf`                                                       | o        | `tf2_msgs/msg/TFMessage`                       |
+| `/tf_static`                                                | o        | `tf2_msgs/msg/TFMessage`                       |
+|                                                             |          | `sensor_msgs/msg/CompressedImage`              |
+|                                                             |          | `sensor_msgs/msg/CameraInfo`                   |
 
 #### script
 
@@ -203,15 +205,15 @@ output: T4 format data
 
 #### Messages
 
-| Topic Name                                    | Required | Message Type                                       |
-| --------------------------------------------- | -------- | -------------------------------------------------- |
-| `/ground_truth/objects`                       | o        | `autoware_auto_perception_msgs/msg/TrackedObjects` |
-| `/sensing/camera/camera{ID}/camera_info`      | o        | `visualization_msgs/msg/MarkerArray`               |
-| `/sensing/lidar/concatenated/pointcloud`      | o        | `sensor_msgs/msg/PointCloud2`                      |
-| `/tf`                                         | o        | `tf2_msgs/msg/TFMessage`                           |
-| `/tf_static`                                  | o        | `tf2_msgs/msg/TFMessage`                           |
-| `/sensing/camera/camera{ID}/image_rect_color` | o        | `sensor_msgs/msg/Image`                            |
-| `/sensing/camera/camera{ID}/camera_info`      | o        | `sensor_msgs/msg/CameraInfo`                       |
+| Topic Name                                    | Required | Message Type                                  |
+| --------------------------------------------- | -------- | --------------------------------------------- |
+| `/ground_truth/objects`                       | o        | `autoware_perception_msgs/msg/TrackedObjects` |
+| `/sensing/camera/camera{ID}/camera_info`      | o        | `visualization_msgs/msg/MarkerArray`          |
+| `/sensing/lidar/concatenated/pointcloud`      | o        | `sensor_msgs/msg/PointCloud2`                 |
+| `/tf`                                         | o        | `tf2_msgs/msg/TFMessage`                      |
+| `/tf_static`                                  | o        | `tf2_msgs/msg/TFMessage`                      |
+| `/sensing/camera/camera{ID}/image_rect_color` | o        | `sensor_msgs/msg/Image`                       |
+| `/sensing/camera/camera{ID}/camera_info`      | o        | `sensor_msgs/msg/CameraInfo`                  |
 
 #### script
 
@@ -224,21 +226,21 @@ python -m perception_dataset.convert --config config/rosbag2_to_t4/convert_synth
 #### Description
 
 This function is for converting a pseudo-labeled bag to T4 format.  
-The pseudo-labeled bag contains either detection output or tracking output from Autoware. The detection output is a message of `autoware_auto_perception_msgs/msg/DetectedObjects`, and the tracking output is a message of `autoware_auto_perception_msgs/msg/TrackedObjects`.
+The pseudo-labeled bag contains either detection output or tracking output from Autoware. The detection output is a message of `autoware_perception_msgs/msg/DetectedObjects`, and the tracking output is a message of `autoware_perception_msgs/msg/TrackedObjects`.
 
 input: rosbag2  
 output: T4 format data
 
 #### Messages
 
-| Topic Name                                                                                                                 | Required | Message Type                                                                                              |
-| -------------------------------------------------------------------------------------------------------------------------- | -------- | --------------------------------------------------------------------------------------------------------- |
-| `/perception/object_recognition/detection/objects` or `/perception/object_recognition/tracking/objects` or other any value | o        | `autoware_auto_perception_msgs/msg/TrackedObjects` or `autoware_auto_perception_msgs/msg/DetectedObjects` |
-| `/sensing/lidar/concatenated/pointcloud` or other any value                                                                | o        | `sensor_msgs/msg/PointCloud2`                                                                             |
-| `/tf`                                                                                                                      | o        | `tf2_msgs/msg/TFMessage`                                                                                  |
-| `/tf_static`                                                                                                               | o        | `tf2_msgs/msg/TFMessage`                                                                                  |
-| `/sensing/camera/camera{ID}/image_rect_color/compressed`                                                                   |          | `sensor_msgs/msg/CompressedImage`                                                                         |
-| `/sensing/camera/camera{ID}/camera_info`                                                                                   |          | `sensor_msgs/msg/CameraInfo`                                                                              |
+| Topic Name                                                                                                                 | Required | Message Type                                                                                    |
+| -------------------------------------------------------------------------------------------------------------------------- | -------- | ----------------------------------------------------------------------------------------------- |
+| `/perception/object_recognition/detection/objects` or `/perception/object_recognition/tracking/objects` or other any value | o        | `autoware_perception_msgs/msg/TrackedObjects` or `autoware_perception_msgs/msg/DetectedObjects` |
+| `/sensing/lidar/concatenated/pointcloud` or other any value                                                                | o        | `sensor_msgs/msg/PointCloud2`                                                                   |
+| `/tf`                                                                                                                      | o        | `tf2_msgs/msg/TFMessage`                                                                        |
+| `/tf_static`                                                                                                               | o        | `tf2_msgs/msg/TFMessage`                                                                        |
+| `/sensing/camera/camera{ID}/image_rect_color/compressed`                                                                   |          | `sensor_msgs/msg/CompressedImage`                                                               |
+| `/sensing/camera/camera{ID}/camera_info`                                                                                   |          | `sensor_msgs/msg/CameraInfo`                                                                    |
 
 #### script
 

diff --git a/perception_dataset/constants.py b/perception_dataset/constants.py
@@ -43,6 +43,14 @@ class SENSOR_ENUM(Enum):
         "channel": "CAM_BACK",
         "modality": SENSOR_MODALITY_ENUM.CAMERA.value,
     }
+    CAM_BACK_NARROW = {
+        "channel": "CAM_BACK_NARROW",
+        "modality": SENSOR_MODALITY_ENUM.CAMERA.value,
+    }
+    CAM_BACK_WIDE = {
+        "channel": "CAM_BACK_WIDE",
+        "modality": SENSOR_MODALITY_ENUM.CAMERA.value,
+    }
     CAM_FRONT_LEFT = {
         "channel": "CAM_FRONT_LEFT",
         "modality": SENSOR_MODALITY_ENUM.CAMERA.value,
-Original file line number
+Diff line change
@@ Expand Up / @@ -4,6 +4,7 @@ tests/scale_to_t4/data_test_scale_to_t4_converter/output_base @@
     /data*/
     /notebooks/data/
     /tests/data
+    /label_data*
     # ros
     /src
@@ Expand Down @@