dataset_preproc

Dataset pre-processing: Processes MCAP bag files to generate data compatible with the SegmentsAI annotation tool.

Usage Guide

To upload and add sample data to SegmentsAI, you will need access key tokens.

Setting Up Access Keys

Create a file named dataset_keys.env inside a keys directory in the parent directory of this repository:

mkdir -p keys && touch keys/dataset_keys.env

Add the following environment variables to dataset_keys.env:

# EIDF AWS S3
AWS_ACCESS_KEY_ID=my_access_key_id
AWS_SECRET_ACCESS_KEY=my_secret_access_key
AWS_ENDPOINT_URL=my_s3_organisation_url
BUCKET_NAME=my_bucket_name
EIDF_PROJECT_NAME=my_projectxyz

# SegmentsAI key
SEGMENTS_API_KEY=my_segment_ai_api_key

Important Notes

• File and path names are case-sensitive.
• The dev.sh script will attempt to locate the dataset_keys.env file. If the file is missing or incorrectly named, the script will throw an error.

For access credentials, please contact Hector Cruz or Alejandro Bordallo.

Build and Run the Docker Container Interactively

To build and run the Docker container interactively, use:

./runtime.sh -p /PATH/TO/ROSBAGS

Extract Data from .mcap ROSbag

1. Edit config/av.yaml to define bag_path and output_dir.
2. For further reference, check exporter_config.yaml.
3. Run the following command to extract data:

ros2 run ros2_bag_exporter bag_exporter --ros-args -p config_file:=config/av.yaml

The extractor will create a directory named after the provided rosbag inside the output_dir directory. This directory will contain:

• Extracted point clouds (.pcd)
• Images (.jpg)
• export_metadata.yaml

We will refer to this directory as <rosbag_output_dir>.

Extract Ego Trajectory from the ROSbag

To extract the ego trajectory:

generate_ego_trajectory <my_path_to_rosbag.mcap> <rosbag_output_dir>

A .tum file with the same name as your rosbag should appear in <rosbag_output_dir>.

Upload Data to S3

To upload the extracted data to either EIDF or SegmentsAI AWS S3, run:

upload_data <rosbag_output_dir> eidf
# Or
upload_data <rosbag_output_dir> segments

If no S3 organisation is specified, eidf is used by default.

After the upload, you should see an upload_metadata.json file inside <rosbag_output_dir>.

Add a Sample to Segment.ai

Create a dataset if you haven't already and extract its name.

Run the script:

add_segmentsai_sample <my_dataset_name> <sequence_name> <rosbag_output_dir>

Where:

• <my_dataset_name>: Segment.ai's dataset name
• <sequence_name>: Desired sequence name for the multi-sensor sample
  • Ensure the sequence name is unique within your dataset; otherwise, the sample will not be uploaded
• <rosbag_output_dir>: Directory with the extracted rosbags and metadata files

If successful, you will see your new segment inside your dataset.

Development Mode

To open the container in development mode, run:

./dev.sh -p /path/to/ROSBAGS

Once the container is launched, you can install the Python packages via:

pip install -e ./scripts

The -e flag installs the Python packages in editable mode. This allows changes to be made and reflected directly in the script commands described above.