feat: camera images convertion

[MagdalenaKotynia]

Description

This PR contains changes needed to convert rosbags to t4dataset with camera images and annotations (including 2d bounding boxes annotations in object_ann.json file).

How to review

How to test

test data

Example test rosbag

Example test config yaml file:

task: convert_rosbag2_to_t4
description:
  scene: synthetic
conversion:
  input_base: <path to rosbags directory>
  output_base: <path to output directory>
  workers_number: 1
  skip_timestamp: 2.0
  num_load_frames: 200
  crop_frames_unit: 50  
  camera_latency_sec: 0.00
  object_topic_name: /ground_truth/objects
  object_msg_type: TrackedObjects
  world_frame_id: world
  lidar_sensor:
    topic: /lidar/concatenated/pointcloud
    channel: LIDAR_CONCAT
  camera_sensors: 
    - topic: /sensing/camera/camera4/image_rect_color
      channel: CAM_FRONT
    - topic: /sensing/camera/camera5/image_rect_color
      channel: CAM_BACK

test command

python -m perception_dataset.convert --config <path to config yaml file>

Reference

Notes for reviewer

[boczekbartek]

@MagdalenaKotynia I can see that tests are failing in the CI. Could you try to fix it? I'll review the code when tests will work. Thanks!

[MagdalenaKotynia]

The #24 PR is a cleaned-up version of this outdated PR so it can be closed now.