Tools to be uploaded / implemented

[migranram]

Upload or implement the actual tools to be used with the dataset. Here a list (WIP). Feel free to add comments in this issue to add more items to the list.

Set-up [TODO]

• python environment
• download data
• example unpacking from docs
• model download (model zoo?)

Data Visualization [TODO]

• Data loading
• Data management (Datumaro?)
• Class mapping file?
• Script to visualize images
• Script to visualize pointclouds
• Script to visualize extrinsic calibration
• Visualize model inference (Overlay)

Training & Evaluation [TODO]

• Semantic training 2D
• Panoptic training 2D ?
• Semantic training 3D
• Script to infer with ckpt and vis. gt and result (2D / 3D)?
• Inference on images (no GT)
• Download pretrained weights
• Calculate metric over data

Raw Data Handling

• rviz or foxglove configuration
• urdf model?
• driver utilities -> pointcloud unpacking, etc.?
• inertial correction for pcl?

Other tools

• Get frames containing a class
• Export in COCO detection (instance segmentation) format ?