feat(deepen_to_t4): add format version

config/convert_deepen_to_t4_sample.yaml

@@ -19,6 +19,7 @@ conversion:
   input_bag_base: ./data/rosbag2
   output_base: ./data/t4_format
   topic_list: ./config/topic_list_sample.yaml
+  format_version: "1.2"
   ignore_interpolate_label: True
   dataset_corresponding:
     Dataset_name: dataset_id_in_Deepen_AI

config/convert_deepen_to_t4_tlr_sample.yaml

@@ -16,5 +16,6 @@ conversion:
   input_bag_base: ./data/rosbag2
   output_base: ./data/t4_format
   topic_list: ./config/topic_list_tlr.yaml
+  format_version: "1.2"
   dataset_corresponding:
     TLR_test: TyevxBgbnTplOa9A8NQXPuzp

perception_dataset/convert.py

@@ -139,6 +139,7 @@ def main():
         description = config_dict["description"]
         input_bag_base = config_dict["conversion"]["input_bag_base"]
         topic_list_yaml_path = config_dict["conversion"]["topic_list"]
+        format_version = config_dict["conversion"]["format_version"]
         ignore_interpolate_label = False
         if "ignore_interpolate_label" in config_dict["conversion"]:
             ignore_interpolate_label = config_dict["conversion"]["ignore_interpolate_label"]
@@ -154,6 +155,7 @@ def main():
             description=description,
             input_bag_base=input_bag_base,
             topic_list=topic_list_yaml,
+            format_version=format_version,
             ignore_interpolate_label=ignore_interpolate_label,
         )
 

perception_dataset/deepen/deepen_to_t4_converter.py

@@ -29,6 +29,7 @@ def __init__(
         description: Dict[str, Dict[str, str]],
         input_bag_base: Optional[str],
         topic_list: Union[Dict[str, List[str]], List[str]],
+        format_version: str,
         t4_dataset_dir_name: str = "t4_dataset",
         ignore_interpolate_label: bool = False,
     ):
@@ -45,6 +46,7 @@ def __init__(
         self._ignore_interpolate_label: bool = ignore_interpolate_label
 
         self._topic_list_yaml: Union[List, Dict] = topic_list
+        self._format_version: str = str(format_version)
 
     def convert(self):
         with open(self._input_anno_file) as f:
@@ -69,6 +71,7 @@ def convert(self):
             if self._overwrite_mode or not is_dir_exist:
                 shutil.rmtree(output_dir, ignore_errors=True)
                 self._copy_data(input_dir, output_dir)
+                self._generate_format_version_file(output_dir)
                 if self._input_bag_base is not None:
                     self._find_start_end_time(input_dir)
                     self._make_rosbag(input_bag_dir, output_dir)
@@ -93,6 +96,11 @@ def convert(self):
             modifier = KeyFrameConsistencyResolver()
             modifier.inspect_and_fix_t4_segment(Path(output_dir))
 
+    def _generate_format_version_file(self, output_dir: str):
+        format_version_file_path = osp.join(output_dir, "format_version.txt")
+        with open(format_version_file_path, "w") as f:
+            f.write(self._format_version)
+
     def _copy_data(self, input_dir: str, output_dir: str):
         if input_dir != output_dir:
             logger.info(f"Copying {input_dir} to {output_dir} ... ")

tests/config/convert_deepen_to_t4.yaml

@@ -19,6 +19,7 @@ conversion:
   input_bag_base: ./data/rosbag2
   output_base: ./data/t4_format
   topic_list: ./config/topic_list.yaml
+  format_version: "1.2"
   ignore_interpolate_label: True
   dataset_corresponding:
     sample_bag: i3BpFG1vXknBto6q2vPZ3M1i

tests/deepen/test_deepen_to_t4_converter.py

@@ -145,6 +145,7 @@ def converter_for_test(self):
             description={},
             input_bag_base="",
             topic_list=[],
+            format_version="1.2",
             ignore_interpolate_label=False,
         )
 
@@ -165,6 +166,7 @@ def converter_for_interpolate_test(self):
             description={},
             input_bag_base="",
             topic_list=[],
+            format_version="1.2",
             ignore_interpolate_label=True,
         )