feat: port rosbag2_to_annotated_t4_tlr

[kminoda]

Description

Port TLR related converters from AWMLDataset

See also: https://github.com/tier4/AWMLdataset/pull/199

How to review

• Please check if I am using correct messages for TrafficLightArray and TrafficLightRoiArray
• Please check if Rosbag2 -> Annotated T4 TLR dataset succeeds
  • Confirmed on my end that the dataset is apparently created without error, and uploading to WebAuto also succeeds
• Please check if Rosbag2 w/ GT -> Annotated T4 TLR dataset succeeds
  • Confirmed on my end that the dataset is apparently created without error (Although I commented out "pointcloud" in rosbag2_converter.py for this test)
• Please check if Annotated T4 TLR dataset -> Deepen succeeds
  • Confirmed on my end that the dataset is apparently created without error

How to test

test data

• Rosbag2 -> Annotated T4 TLR dataset
  • Any data is fine
• Annotated T4 TLR dataset -> Deepen
  • Any data is fine
• Rosbag2 w/ GT -> Annotated T4 TLR dataset
  • Sample data provided in this repository

test command

python3 -m perception_dataset.convert --config config/rosbag2_to_t4/convert_rosbag2_to_annotated_t4_tlr.yaml

python3 -m perception_dataset.convert --config config/rosbag2_to_t4/convert_rosbag2_with_gt_to_annotated_t4_tlr.yaml

python3 -m perception_dataset.convert --config config/convert_annotated_t4_tlr_to_deepen_sample.yaml

Reference

None

Notes for reviewer

None

[miursh]

@kminoda
Thank you for porting the TLR related converter. I made a few minor changes.