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feat(annotated_to_deepen): add default attributes #67

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merged 9 commits into from
Dec 27, 2023
Merged

feat(annotated_to_deepen): add default attributes #67

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7181885
feat(annotated_to_deepen): add default attributes
kminoda Dec 22, 2023
1d5f77f
Merge remote-tracking branch 'origin' into feat/annotated_to_deepen/a…
kminoda Dec 22, 2023
57d7fd1
fix: fix variable name
kminoda Dec 22, 2023
c008c04
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Dec 22, 2023
c26988e
fix bug
kminoda Dec 22, 2023
07d10b9
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Dec 22, 2023
4bda3ff
test: remove attribute test from tracking sim test
kminoda Dec 27, 2023
1482737
test: fix attribute length
miursh Dec 27, 2023
8a66687
Merge branch 'main' into feat/annotated_to_deepen/add_default_attribute
miursh Dec 27, 2023
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50 changes: 49 additions & 1 deletion perception_dataset/rosbag2/autoware_msgs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,52 @@
TrafficSignalArray,
)

DEFAULT_ATTRIBUTES_BY_CATEGORY_NAME: Dict[str, List[str]] = {
"unknown": [
"object_state.still",
"occlusion_state.none",
],
"car": [
"occlusion_state.none",
"extremities_state.none",
"vehicle_state.driving",
],
"truck": [
"occlusion_state.none",
"extremities_state.none",
"vehicle_state.driving",
],
"bus": [
"occlusion_state.none",
"extremities_state.none",
"vehicle_state.driving",
],
"trailer": [
"occlusion_state.none",
"extremities_state.none",
"vehicle_state.driving",
],
"motorcycle": [
"occlusion_state.none",
"extremities_state.none",
"vehicle_state.driving",
],
"bicycle": [
"occlusion_state.none",
"extremities_state.none",
"vehicle_state.driving",
],
"pedestrian": [
"occlusion_state.none",
"extremities_state.none",
"pedestrian_state.standing",
],
"bicycle_without_rider": [],
"motorcycle_without_rider": [],
"personal_mobility_vehicle": [],
"street_asset": [],
}


def semantic_type_to_class_name(semantic_type: int) -> str:
"""https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_perception_msgs/msg/object_recognition/Semantic.msg"""
Expand Down Expand Up @@ -131,7 +177,9 @@ def get_category_name(classification: List[ObjectClassification]) -> str:
label_dict: Dict[str, Any] = {
"category_name": category_name,
"instance_id": str(obj_uuid),
"attribute_names": [], # not available
"attribute_names": DEFAULT_ATTRIBUTES_BY_CATEGORY_NAME[category_name]
if category_name in DEFAULT_ATTRIBUTES_BY_CATEGORY_NAME
else [],
"three_d_bbox": {
"translation": position,
"velocity": velocity,
Expand Down
3 changes: 1 addition & 2 deletions tests/test_tracking_sim_dataset_conversion.py
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Expand Up @@ -136,7 +136,7 @@ def test_rosbag2_converter_dataset_consistency(t4_dataset_path):
@pytest.mark.parametrize("t4_dataset_path", [True], indirect=True)
def test_attribute_json(t4_dataset_path, attribute_list):
attribute_json = load_json(t4_dataset_path, "attribute")
assert len(attribute_json) == 0, f"attribute_json length is {len(attribute_json)}, expected 0"
assert len(attribute_json) == 3, f"attribute_json length is {len(attribute_json)}, expected 3"
assert len(attribute_json) <= len(
attribute_list
), f"attribute_json length more than {len(attribute_list)}, expected {len(attribute_list), {attribute_list}}"
Expand Down Expand Up @@ -236,7 +236,6 @@ def test_sample_annotation_json(t4_dataset_path):
assert sample_anno["sample_token"], "sample_token is empty"
assert sample_anno["instance_token"], "instance_token is empty"

assert sample_anno["attribute_tokens"] == []
assert sample_anno["visibility_token"], "visibility_token is empty"
assert sample_anno["translation"], "translation is empty"
assert "velocity" in sample_anno.keys(), "sample_annotation must have velocity key"
Expand Down
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