feat(CenterPoint): release CenterPoint 2.6

Dockerfile

@@ -67,6 +67,8 @@ RUN python3 -m pip install git+https://github.com/tier4/autoware_perception_eval
 RUN python3 -m pip --no-cache-dir install \
     setuptools==60.2.0 \
     transformers==4.51.3 \
+    onnx_graphsurgeon==0.5.8 \
+    spconv-cu120==2.3.6 \
     polars==1.37.1
 
 # NOTE(knzo25): this patch is needed to use numpy versions over 1.23.5 (version used in mmdet3d 1.4.0)

autoware_ml/configs/detection3d/dataset/t4dataset/base.py

@@ -28,8 +28,10 @@
     "db_j6gen2_v6",
     "db_j6gen2_v7",
     "db_j6gen2_v8",
+    "db_j6gen2_v9",
     "db_largebus_v1",
     "db_largebus_v2",
+    "db_largebus_v3",
     "db_jpntaxi_v1",
     "db_jpntaxi_v2",
     "db_jpntaxi_v4",
@@ -39,14 +41,16 @@
     "db_j6_v3",
     "db_j6_v5",
 ]
+
+# TODO (KokSeang): This will be removed to avoid repeatitive computation
+# Dataset set, test info files, and enable/disable evaluation of prefix
 dataset_test_groups = {
-    "db_jpntaxi_gen2_base": "t4dataset_jpntaxi_gen2_base_infos_test.pkl",
-    "db_j6gen2": "t4dataset_j6gen2_infos_test.pkl",
-    "db_j6gen2_v6": "t4dataset_j6gen2_v6_infos_test.pkl",
-    "db_largebus": "t4dataset_largebus_infos_test.pkl",
-    "db_jpntaxi": "t4dataset_xx1_infos_test.pkl",
-    "db_j6": "t4dataset_x2_infos_test.pkl",
-    "db_base": "t4dataset_base_infos_test.pkl",
+    "j6gen2_base": ("t4dataset_j6gen2_base_infos_test.pkl", False),
+    "j6gen2": ("t4dataset_j6gen2_infos_test.pkl", False),
+    "largebus": ("t4dataset_largebus_infos_test.pkl", False),
+    "jpntaxi_base": ("t4dataset_jpntaxi_base_infos_test.pkl", False),
+    "jpntaxi_gen2": ("t4dataset_jpntaxi_gen2_infos_test.pkl", False),
+    "base": ("t4dataset_base_infos_test.pkl", True),
 }
 
 # dataset format setting

autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2.py

@@ -26,13 +26,11 @@
     "db_j6gen2_v6",
     "db_j6gen2_v7",
     "db_j6gen2_v8",
+    "db_j6gen2_v9",
 ]
 
 dataset_test_groups = {
-    "db_j6gen2_v6": "t4dataset_j6gen2_v6_infos_test.pkl",
-    "db_j6gen2": "t4dataset_j6gen2_infos_test.pkl",
-    "db_largebus": "t4dataset_largebus_infos_test.pkl",
-    "db_gen2_base": "t4dataset_gen2_base_infos_test.pkl",
+    "j6gen2": ("t4dataset_j6gen2_infos_test.pkl", True),
 }
 
 # dataset format setting

autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_base.py

@@ -26,15 +26,16 @@
     "db_j6gen2_v6",
     "db_j6gen2_v7",
     "db_j6gen2_v8",
+    "db_j6gen2_v9",
     "db_largebus_v1",
     "db_largebus_v2",
+    "db_largebus_v3",
 ]
 
 dataset_test_groups = {
-    "db_j6_gen2_v6": "t4dataset_j6gen2_v6_infos_test.pkl",
-    "db_j6gen2": "t4dataset_j6gen2_infos_test.pkl",
-    "db_largebus": "t4dataset_largebus_infos_test.pkl",
-    "db_j6_gen2_base": "t4dataset_j6gen2_base_infos_test.pkl",
+    "largebus": ("t4dataset_largebus_infos_test.pkl", False),
+    "j6gen2": ("t4dataset_j6gen2_infos_test.pkl", False),
+    "j6gen2_base": ("t4dataset_j6gen2_base_infos_test.pkl", True),
 }
 
 # dataset format setting

autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_base.py

@@ -18,9 +18,8 @@
 
 # dataset scene setting
 dataset_test_groups = {
-    "db_jpntaxi_gen2_base": "t4dataset_jpntaxi_gen2_base_infos_test.pkl",
-    "db_jpntaxi_gen2_v2": "t4dataset_jpntaxi_gen2_v2_infos_test.pkl",
-    "db_jpntaxi_base": "t4dataset_jpntaxi_base_infos_test.pkl",
+    "jpntaxi_gen2": ("t4dataset_jpntaxi_gen2_infos_test.pkl", False),
+    "jpntaxi_base": ("t4dataset_jpntaxi_base_infos_test.pkl", True),
 }
 
 dataset_version_list = [

autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_v6.py → autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_gen2.py

@@ -8,23 +8,24 @@
 
 # dataset type setting
 dataset_type = "T4Dataset"
-info_train_file_name = "t4dataset_j6gen2_v6_infos_train.pkl"
-info_val_file_name = "t4dataset_j6gen2_v6_infos_val.pkl"
-info_test_file_name = "t4dataset_j6gen2_v6_infos_test.pkl"
+info_train_file_name = "t4dataset_jpntaxi_gen2_infos_train.pkl"
+info_val_file_name = "t4dataset_jpntaxi_gen2_infos_val.pkl"
+info_test_file_name = "t4dataset_jpntaxi_gen2_infos_test.pkl"
 
-info_train_statistics_file_name = "t4dataset_j6gen2_v6_statistics_train.parquet"
-info_val_statistics_file_name = "t4dataset_j6gen2_v6_statistics_val.parquet"
-info_test_statistics_file_name = "t4dataset_j6gen2_v6_statistics_test.parquet"
+info_train_statistics_file_name = "t4dataset_jpntaxi_gen2_statistics_train.parquet"
+info_val_statistics_file_name = "t4dataset_jpntaxi_gen2_statistics_val.parquet"
+info_test_statistics_file_name = "t4dataset_jpntaxi_gen2_statistics_test.parquet"
 
 # dataset scene setting
-dataset_version_list = [
-    "db_j6gen2_v6",
-]
-
 dataset_test_groups = {
-    "db_j6gen2_v6": "t4dataset_j6gen2_v6_infos_test.pkl",
+    "jpntaxi_gen2": ("t4dataset_jpntaxi_gen2_infos_test.pkl", True),
 }
 
+dataset_version_list = [
+    "db_jpntaxigen2_v1",
+    "db_jpntaxigen2_v2",
+]
+
 # dataset format setting
 data_prefix = dict(
     pts="",
@@ -36,7 +37,6 @@
     CAM_BACK_LEFT="",
     sweeps="",
 )
-
 camera_types = {
     "CAM_FRONT",
     "CAM_FRONT_RIGHT",
@@ -156,6 +156,7 @@
     "data/CAM_BACK_RIGHT",
 ]
 
+# Add filter attributes
 filter_attributes = [
     ("vehicle.bicycle", "vehicle_state.parked"),
     ("vehicle.bicycle", "cycle_state.without_rider"),