tier4_perception_dataset

This is the data conversion tools around T4 dataset.

Tools Overview

See tools_overview about the converters.

Setup

git clone git@github.com: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 tier4_perception_msgs pandar_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