feat(deepen_to_t4): add paint label downloader #107

nanoshimarobot · 2024-05-24T03:33:31Z

Description

Add a feature to download 3D semantic painting labels and write them to pcd files located in non_annotated_t4_format.
This feature enables the local storage of annotation information for 3D point clouds.
I used this api for downloading label data.

How to test

test data

Any 3D painted deepen dataset
non_annotated_t4_format

test command

Edit convert_deepen_to_t4_paint_sample.yaml
Modify input_base and dataset corresponding as necessary.

Run

  python3 -m perception_dataset.deepen.download_paint_annotations_to_pcd --config config/convert_deepen_to_t4_paint_sample.yaml

Notes for reviewer

for more information, see https://pre-commit.ci

ktro2828

@nanoshimarobot Thanks for your PR 🚀 I left some comments, please check this out.

perception_dataset/deepen/download_paint_annotations_to_pcd.py

for more information, see https://pre-commit.ci

perception_dataset/deepen/download_paint_annotations_to_pcd.py

* fix: remove unexpected normalization Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * refactor: unpack `D` to specific variables Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * fix: stack z values Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * test: add unit testings for `view_points` Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> --------- Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

* update README Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * remove unintended items from calibrated sensor data Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * update ego_pose Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * describe co-mlops format Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * fix typo Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --------- Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…4#132) * feat: remove `SensorChannel` and replace it with `str` Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * docs: update documents Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * fix: invalid method access Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> --------- Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* fix decoding pointcloud2 msg Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * fix comments Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> --------- Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* fix decoding pointcloud2 msg Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * fix comments Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * support uint8 Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * remove ros2-numpy from poetry Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> --------- Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* update pydantic version * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>

updates: - [github.com/igorshubovych/markdownlint-cli: v0.39.0 → v0.41.0](igorshubovych/markdownlint-cli@v0.39.0...v0.41.0) - [github.com/psf/black: 24.4.2 → 24.8.0](psf/black@24.4.2...24.8.0) - [github.com/PyCQA/flake8: 7.0.0 → 7.1.1](PyCQA/flake8@7.0.0...7.1.1) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>

… worked) (tier4#145) Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

…n no label on TLR (tier4#140) * fix init value Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * add delay_mseg value Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * fix *_base in yaml Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * add _convert_image for tlr (closed revert tier4#82) Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * add skip method when we do not have label Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * delete no necessary parameter in tlr Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * get back path in config Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * change the way to initialize delay_msec in camera_sensors Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * change comment Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * add method if sensormode != no_lidar Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix data table Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --------- Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(non_annotated_t4_tlr_to_deepen): add conversion tool Signed-off-by: kminoda <koji.minoda@tier4.jp> * update version Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove camera_channels Signed-off-by: kminoda <koji.minoda@tier4.jp> * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * update tests Signed-off-by: kminoda <koji.minoda@tier4.jp> * update test Signed-off-by: kminoda <koji.minoda@tier4.jp> * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * dummy fix Signed-off-by: kminoda <koji.minoda@tier4.jp> * dummy commit Signed-off-by: kminoda <koji.minoda@tier4.jp> * update pyproject.toml Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…er4#146) * fix: entity path of radar points Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * feat: add support of saving recording result Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * chore: fix rerun version to `0.17.0` Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * feat: update to make directory if the corresponding directory does not exist Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> --------- Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

* fix skip frame logic Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * increment the version number Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * refactor: extract get_camera_token into a separate function Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> --------- Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* Output topic drop error during initialization Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * Avoid out-of-bounds access in get_lidar_camera_synced_frame_info Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * Enhance image data handling to support CompressedImage format - Modify _generate_image_data to accept both np.ndarray and CompressedImage types - Add image_shape parameter to properly set image dimensions - Ensure correct saving of CompressedImage data Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * add RX2 constants Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --------- Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* chore: delete `t4-devkit` Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * docs: update the documentation link of `t4-devkit` Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> --------- Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

* add deepen import label script Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * fix bug Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * remove unused code Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> --------- Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat: add upload dataset script Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * formatting Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * fix config yaml Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * add outputting dataset ID list Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * Skip non-zip files when uploading datasets Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * remove unused code Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * add httpx to poetry Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> --------- Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* docs: add automatic_annotation information Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * fix description for automatic_annotation Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * update the description Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> --------- Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

…ier4#156) * feat(rosbag2_to_non_annotated_t4): support image undistortion option Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * raise error when the camera_info is not found Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * overwrite distortion coefficient when applying undistortion Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * refactor image undistortion and camera info parsing Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * Fix return logic and error handling Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * Update perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>

* docs: update the description of ego_pose coordinate system Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * update Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> --------- Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

…pport optional lidar index field (tier4#168) * enhance point_cloud2_to_array to support optional lidar index field Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * add type hints Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> --------- Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…tion (tier4#164) * TODO: add deepen segmentation conversion Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * feat: add support of converting deepen 2D segmentation annotation Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * chore: update surface labels Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * fix avoid to use `if cam_idx < num_cameras` Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * fix: strip `sensor` instead of `sensor_` Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * chore: update surface.yaml Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix: use field if it has Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * fix: resolve circular import Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * fix: set default of to Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * fix: update the condition of annotation types Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * Update perception_dataset/deepen/segmentation/painting2d.py * Update config/label/surface.yaml * Update config/convert_deepen_to_t4_segmetation_painting_sample.yaml Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> * Update config/convert_deepen_to_t4_segmetation_polygon_sample.yaml Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> * chore: rename config files Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * feat: update comparing sensor id and camera index Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * feat: update surface labels Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * feat: update comparing sensor index and camera index in painting Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * fix: remove invalid operation Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * Update perception_dataset/deepen/segmentation/polygon2d.py Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> * Update perception_dataset/deepen/segmentation/polygon2d.py Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> --------- Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com>

* feat: update record classes for CoMLOPs format Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * ci: update test depends Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * Update perception_dataset/ros2/oxts_msgs/ins_handler.py Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> * feat: update acceleration coordinate system in base_link Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * feat: update handling of velocity/omega/acceleration Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * chore: remove unused tf-transformations Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * ci: update to install pacmod3-msgs Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * ci: update to install libboost-dev Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * feat: set optional values to None by default Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> --------- Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

nanoshimarobot added 13 commits March 5, 2024 11:53

[update] download paint dataset

ee0b18f

[update] 1フレーム分だけ書き込みできた

46d82d5

[fix] annotation bug

a3e9fa6

[fix] decompressed labelの位置オフセット計算ミス

f5aaf3c

[update] paint annotation downloader

74742e9

Merge branch 'main' into feat/ground_seg_annotation

c298485

[remove] prev paint annotation downloader

3ad8679

[remove] unused paramater file

ecc3477

[update] config file for paint annotaion downloader

a785f28

[update] modified config for paint downloader

5bf2283

[refactor] download_paint_annotations

5ba44bf

Merge branch 'main' into feat/ground_seg_annotation

abfc575

[fix] gitignore, configs

154b6cd

nanoshimarobot requested a review from miursh May 24, 2024 03:33

pre-commit-ci bot and others added 2 commits May 24, 2024 03:34

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Merge branch 'main' into feat/ground_seg_annotation

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nanoshimarobot mentioned this pull request Jun 10, 2024

feat: add ground_segmentation evaluator tier4/driving_log_replayer#479

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Merge branch 'main' into feat/ground_seg_annotation

9c1d990

ktro2828 requested changes Jun 11, 2024

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nanoshimarobot and others added 8 commits June 17, 2024 00:42

[update] add return type hint

57a4d33

[update] add checks for the existence of environment variables

54f0bce

[remove] unnecessary debug output

a7538d4

[update] exit if response contains HTTP status error

69ce89a

[update] add main()

f803a38

[pre-commit.ci] auto fixes from pre-commit.com hooks

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Merge branch 'main' into feat/ground_seg_annotation

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Merge branch 'main' into feat/ground_seg_annotation

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ktro2828 reviewed Jun 23, 2024

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nanoshimarobot added 2 commits June 24, 2024 10:38

[remove] unused module

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Merge branch 'main' into feat/ground_seg_annotation

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ktro2828 and others added 30 commits November 24, 2024 16:02

release v1.0.13 (tier4#135)

2e4a298

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

chore: fix push release tag workflow (tier4#143)

499ac09

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

fix(utils): add cast for intensity (tier4#129)

3e4d23d

Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>

chore: updated installation instructions (follows the ci/cd ones that…

56bf74e

… worked) (tier4#145) Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

chode: fix typo of occlusion (tier4#151)

b64d712

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

fix(t4-devkit): resolve rendering issues (tier4#155)

3065e32

chore: delete t4-devkit (tier4#160)

1016c4d

* chore: delete `t4-devkit` Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * docs: update the documentation link of `t4-devkit` Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> --------- Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

chore: bump to v1.0.16 (tier4#162)

54154e1

increment version number (tier4#170)

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Merge branch 'main' into feat/ground_seg_annotation

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feat(deepen_to_t4): add paint label downloader #107

feat(deepen_to_t4): add paint label downloader #107

nanoshimarobot commented May 24, 2024

ktro2828 left a comment

feat(deepen_to_t4): add paint label downloader #107

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feat(deepen_to_t4): add paint label downloader #107

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nanoshimarobot commented May 24, 2024

Description

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