TIER IV Perception Dataset Conversion Tools

This repository provides tools for converting ROS2 bag files and TIER IV (T4) dataset files, as well as the design specifications for the T4 dataset format.
These tools facilitate the preparation and transformation of perception data for autonomous driving applications.

Table of Contents

1. Dataset Overview
2. Usage of T4 dataset
3. Usage of Conversion Tools
   • Conversion Tools Overview
   • Setup
   • Test
   • Pre Commit

Dataset Overview

The T4 dataset is designed to support autonomous driving research and development.
It can include various types of perception data such as images and lidar point clouds, radar point clouds, along with annotations for tasks like object detection, segmentation, and tracking.

For detailed information about the T4 dataset format, please refer to the T4 Dataset Format Documentation.

Usage of T4 format dataset

t4-devkit is a development kit for working with the T4 dataset, providing additional utilities and tools.
Please see t4-devkit about details.

Usage of Conversion Tools

Conversion Tools Overview

See tools_overview about the converters.

Setup

git clone [email protected]:tier4/tier4_perception_dataset.git perception_dataset
cd perception_dataset

Install and build ros dependencies (this step must be outside of poetry virtualenv):

source /opt/ros/${ROS_DISTRO}/setup.sh
sudo apt install -y ros-${ROS_DISTRO}-sensor-msgs-py ros-${ROS_DISTRO}-rosbag2-storage-mcap ros-${ROS_DISTRO}-radar-msgs

mkdir src -p && vcs import src < build_depends.repos
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to autoware_auto_perception_msgs autoware_perception_msgs tier4_perception_msgs
source ./install/setup.bash

As of 2024/06/10, the repository requires both autoware_msgs and autoware_auto_msgs. The above command will install both messages. If you already have either of them, you can remove the unnecessary one from build_depends.repos.

Install python dependencies:

pip3 install poetry
poetry install

Test

Download test data

• GitHub CLI

gh release download test-data -D tests/data
unzip 'tests/data/*.zip' -d tests/data/

or manually download zipped data from the release page to a test/data directory

Run tests

source /opt/ros/${ROS_DISTRO}/setup.sh
source ./install/setup.bash
poetry run pytest

Pre commit

# to install hooks of formatter and linter files
pre-commit install

# to apply hooks
pre-commit run -a