From a8b2b854e6e5a94947f1387f5bfc3e09c17295aa Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome Date: Tue, 7 May 2024 15:26:14 +0900 Subject: [PATCH] fix: fix links to raw-sensor-data Signed-off-by: Ryohsuke Mitsudome --- docs/datasets/.pages | 2 +- docs/datasets/annotated-data/index.md | 80 +++----------------------- docs/datasets/raw-sensor-data/index.md | 80 +++++++++++++++++++++++--- 3 files changed, 81 insertions(+), 81 deletions(-) diff --git a/docs/datasets/.pages b/docs/datasets/.pages index a964fbd7180..c597c4913a4 100644 --- a/docs/datasets/.pages +++ b/docs/datasets/.pages @@ -1,4 +1,4 @@ nav: - index.md - - Vehicle Sensor Data: vehicle-sensor-data + - Raw Sensor Data: raw-sensor-data - Annotated Data: annotated-data diff --git a/docs/datasets/annotated-data/index.md b/docs/datasets/annotated-data/index.md index 7efd29c4d6f..51dad3aaa75 100644 --- a/docs/datasets/annotated-data/index.md +++ b/docs/datasets/annotated-data/index.md @@ -1,78 +1,12 @@ -# Raw Sensor Datasets +# Annotated Dataset -This page explains about the datsets collected from the sensors attached to a vehicle. +## TIER IV Dataset -## Bus-ODD (Operational Design Domain) datasets +[Download Link](https://drive.google.com/drive/folders/1VVUq48NOjYQ9zHNEg3_GTU_FpFkkquxZ?usp=drive_link) -### Leo Drive - ISUZU sensor data +The data contains the following information with annotation: -This dataset contains data from the Isuzu bus used in the Bus ODD project. +- 63316 images from 6 camearas (All faces and license plates are blurred) +- 13758 frames of lidar points -The data contains data from following sensors: - -- 1 x VLP16 -- 2 x VLP32C -- 1 x Applanix POS LV 120 GNSS/INS -- 3 x Lucid Vision Triton 5.4MP cameras (left, right, front) -- Vehicle status report - -It also contains `/tf` topic for static transformations between sensors. - -#### Required message types - -The GNSS data is available in `sensor_msgs/msg/NavSatFix` message type. - -But also the Applanix raw messages are also included in `applanix_msgs/msg/NavigationPerformanceGsof50` and `applanix_msgs/msg/NavigationSolutionGsof49` message types. -In order to be able to play back these messages, you need to build and source the `applanix_msgs` package. - -```bash -# Create a workspace and clone the repository -mkdir -p ~/applanix_ws/src && cd "$_" -git clone https://github.com/autowarefoundation/applanix.git -cd .. - -# Build the workspace -colcon build --symlink-install --packages-select applanix_msgs - -# Source the workspace -source ~/applanix_ws/install/setup.bash - -# Now you can play back the messages -``` - -Also make sure to source Autoware Universe workspace too. - -#### Download instructions - -```console -# Install awscli -$ sudo apt update && sudo apt install awscli -y - -# This will download the entire dataset to the current directory. -# (About 10.9GB of data) -$ aws s3 sync s3://autoware-files/collected_data/2022-08-22_leo_drive_isuzu_bags/ ./2022-08-22_leo_drive_isuzu_bags --no-sign-request - -# Optionally, -# If you instead want to download a single bag file, you can get a list of the available files with following: -$ aws s3 ls s3://autoware-files/collected_data/2022-08-22_leo_drive_isuzu_bags/ --no-sign-request - PRE all-sensors-bag1_compressed/ - PRE all-sensors-bag2_compressed/ - PRE all-sensors-bag3_compressed/ - PRE all-sensors-bag4_compressed/ - PRE all-sensors-bag5_compressed/ - PRE all-sensors-bag6_compressed/ - PRE driving_20_kmh_2022_06_10-16_01_55_compressed/ - PRE driving_30_kmh_2022_06_10-15_47_42_compressed/ - -# Then you can download a single bag file with the following: -aws s3 sync s3://autoware-files/collected_data/2022-08-22_leo_drive_isuzu_bags/all-sensors-bag1_compressed/ ./all-sensors-bag1_compressed --no-sign-request -``` - -### AutoCore.ai - lidar ROS 2 bag file and pcap - -This dataset contains pcap files and ros2 bag files from Ouster OS1-64 Lidar. -The pcap file and ros2 bag file is recorded in the same time with slight difference in duration. - -[Click here to download (~553MB)](https://autoware-files.s3.us-west-2.amazonaws.com/collected_data/2022-04-14_autocore-lidar-bag-pcap/Lidar_Data_220414_bag_pcap.zip) - -[Reference Issue](https://github.com/autowarefoundation/autoware.universe/issues/562#issuecomment-1102662448) +The data format is based on nuScenes and nuImages format. Form the details, please check this [link](https://github.com/tier4/tier4_perception_dataset/blob/main/docs/t4_format_3d_detailed.md). diff --git a/docs/datasets/raw-sensor-data/index.md b/docs/datasets/raw-sensor-data/index.md index 51dad3aaa75..7efd29c4d6f 100644 --- a/docs/datasets/raw-sensor-data/index.md +++ b/docs/datasets/raw-sensor-data/index.md @@ -1,12 +1,78 @@ -# Annotated Dataset +# Raw Sensor Datasets -## TIER IV Dataset +This page explains about the datsets collected from the sensors attached to a vehicle. -[Download Link](https://drive.google.com/drive/folders/1VVUq48NOjYQ9zHNEg3_GTU_FpFkkquxZ?usp=drive_link) +## Bus-ODD (Operational Design Domain) datasets -The data contains the following information with annotation: +### Leo Drive - ISUZU sensor data -- 63316 images from 6 camearas (All faces and license plates are blurred) -- 13758 frames of lidar points +This dataset contains data from the Isuzu bus used in the Bus ODD project. -The data format is based on nuScenes and nuImages format. Form the details, please check this [link](https://github.com/tier4/tier4_perception_dataset/blob/main/docs/t4_format_3d_detailed.md). +The data contains data from following sensors: + +- 1 x VLP16 +- 2 x VLP32C +- 1 x Applanix POS LV 120 GNSS/INS +- 3 x Lucid Vision Triton 5.4MP cameras (left, right, front) +- Vehicle status report + +It also contains `/tf` topic for static transformations between sensors. + +#### Required message types + +The GNSS data is available in `sensor_msgs/msg/NavSatFix` message type. + +But also the Applanix raw messages are also included in `applanix_msgs/msg/NavigationPerformanceGsof50` and `applanix_msgs/msg/NavigationSolutionGsof49` message types. +In order to be able to play back these messages, you need to build and source the `applanix_msgs` package. + +```bash +# Create a workspace and clone the repository +mkdir -p ~/applanix_ws/src && cd "$_" +git clone https://github.com/autowarefoundation/applanix.git +cd .. + +# Build the workspace +colcon build --symlink-install --packages-select applanix_msgs + +# Source the workspace +source ~/applanix_ws/install/setup.bash + +# Now you can play back the messages +``` + +Also make sure to source Autoware Universe workspace too. + +#### Download instructions + +```console +# Install awscli +$ sudo apt update && sudo apt install awscli -y + +# This will download the entire dataset to the current directory. +# (About 10.9GB of data) +$ aws s3 sync s3://autoware-files/collected_data/2022-08-22_leo_drive_isuzu_bags/ ./2022-08-22_leo_drive_isuzu_bags --no-sign-request + +# Optionally, +# If you instead want to download a single bag file, you can get a list of the available files with following: +$ aws s3 ls s3://autoware-files/collected_data/2022-08-22_leo_drive_isuzu_bags/ --no-sign-request + PRE all-sensors-bag1_compressed/ + PRE all-sensors-bag2_compressed/ + PRE all-sensors-bag3_compressed/ + PRE all-sensors-bag4_compressed/ + PRE all-sensors-bag5_compressed/ + PRE all-sensors-bag6_compressed/ + PRE driving_20_kmh_2022_06_10-16_01_55_compressed/ + PRE driving_30_kmh_2022_06_10-15_47_42_compressed/ + +# Then you can download a single bag file with the following: +aws s3 sync s3://autoware-files/collected_data/2022-08-22_leo_drive_isuzu_bags/all-sensors-bag1_compressed/ ./all-sensors-bag1_compressed --no-sign-request +``` + +### AutoCore.ai - lidar ROS 2 bag file and pcap + +This dataset contains pcap files and ros2 bag files from Ouster OS1-64 Lidar. +The pcap file and ros2 bag file is recorded in the same time with slight difference in duration. + +[Click here to download (~553MB)](https://autoware-files.s3.us-west-2.amazonaws.com/collected_data/2022-04-14_autocore-lidar-bag-pcap/Lidar_Data_220414_bag_pcap.zip) + +[Reference Issue](https://github.com/autowarefoundation/autoware.universe/issues/562#issuecomment-1102662448)