refactor: update Tier4 API to avoid runtime errors for irregular data

[ktro2828]

What

This PR updates Tier4 API to avoid runtime errors for irregular data as follows:

Case1:

Invalid instance token is contained in object_ann.

Creating data info for scene: 70891309-ca8b-477b-905a-5156ffb3df65
Traceback (most recent call last):
  File "/workspace/tools/detection3d/create_data_t4dataset.py", line 290, in <module>
    main()
  File "/workspace/tools/detection3d/create_data_t4dataset.py", line 263, in main
    t4 = Tier4(
  File "/opt/conda/lib/python3.10/site-packages/t4_devkit/tier4.py", line 128, in __init__
    self.__make_reverse_index__(verbose)
  File "/opt/conda/lib/python3.10/site-packages/t4_devkit/tier4.py", line 189, in __make_reverse_index__
    instance: Instance = self.get("instance", record.instance_token)
  File "/opt/conda/lib/python3.10/site-packages/t4_devkit/tier4.py", line 262, in get
    return self.get_table(schema)[self.get_idx(schema, token)]
  File "/opt/conda/lib/python3.10/site-packages/t4_devkit/tier4.py", line 278, in get_idx
    raise KeyError(f"{token} is not registered in {schema}.")
KeyError: '89338d1d0b3e8ab40b363e4b84cfb7d0 is not registered in instance.'

In order to avoid this case, Tier4 API access category_token directory.

Case2:

Empty category token in assigned to surface_ann.

Reverse indexing...
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/home/ktro2828/workspace/t4-devkit/t4_devkit/tier4.py", line 128, in __init__
    self.__make_reverse_index__(verbose)
  File "/home/ktro2828/workspace/t4-devkit/t4_devkit/tier4.py", line 193, in __make_reverse_index__
    category: Category = self.get("category", record.category_token)
  File "/home/ktro2828/workspace/t4-devkit/t4_devkit/tier4.py", line 261, in get
    return self.get_table(schema)[self.get_idx(schema, token)]
  File "/home/ktro2828/workspace/t4-devkit/t4_devkit/tier4.py", line 277, in get_idx
    raise KeyError(f"{token} is not registered in {schema}.")
KeyError: ' is not registered in category.'

In this case, Tier4 API skips to set corresponding category name.

[github-actions]

☂️ Python Coverage

current status: ❌

Overall Coverage

Lines	Covered	Coverage	Threshold	Status
2112	1436	68%	50%	🟢

New Files

No new covered files...

Modified Files

File	Coverage	Status
t4_devkit/tier4.py	10%	🔴
TOTAL	10%	🔴

updated for commit: 747f310 by action🐍