diff --git a/docs/datasets/.pages b/docs/datasets/.pages index 35fd5a113be..c597c4913a4 100644 --- a/docs/datasets/.pages +++ b/docs/datasets/.pages @@ -1,2 +1,4 @@ nav: - index.md + - 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 new file mode 100644 index 00000000000..51dad3aaa75 --- /dev/null +++ b/docs/datasets/annotated-data/index.md @@ -0,0 +1,12 @@ +# Annotated Dataset + +## TIER IV Dataset + +[Download Link](https://drive.google.com/drive/folders/1VVUq48NOjYQ9zHNEg3_GTU_FpFkkquxZ?usp=drive_link) + +The data contains the following information with annotation: + +- 63316 images from 6 camearas (All faces and license plates are blurred) +- 13758 frames of lidar points + +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/index.md b/docs/datasets/index.md index 475c999a76a..ebdd7cd472c 100644 --- a/docs/datasets/index.md +++ b/docs/datasets/index.md @@ -2,77 +2,5 @@ Autoware partners provide datasets for testing and development. These datasets are available for download here. -## Bus-ODD (Operational Design Domain) datasets - -### Leo Drive - ISUZU sensor data - -This dataset contains data from the Isuzu bus used in the Bus ODD project. - -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) +- [Raw Sensor Datasets](./raw-sensor-data/index.md): raw data from sensors attached to a vehicle. They are mainly used to learn how data should be provided to Autoware or test functions of Autoware. +- [Annotated Datasets](./annotated-data/index.md): Annotated datasets for training/evaluating machine learning based functions. diff --git a/docs/datasets/raw-sensor-data/index.md b/docs/datasets/raw-sensor-data/index.md new file mode 100644 index 00000000000..7efd29c4d6f --- /dev/null +++ b/docs/datasets/raw-sensor-data/index.md @@ -0,0 +1,78 @@ +# Raw Sensor Datasets + +This page explains about the datsets collected from the sensors attached to a vehicle. + +## Bus-ODD (Operational Design Domain) datasets + +### Leo Drive - ISUZU sensor data + +This dataset contains data from the Isuzu bus used in the Bus ODD project. + +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)