tier4 · KSeangTan · Jan 14, 2026 · Jan 14, 2026 · Jan 20, 2026 · Jan 20, 2026
diff --git a/Dockerfile b/Dockerfile
@@ -61,13 +61,15 @@ RUN python3 -m pip --no-cache-dir install \
 RUN python3 -m pip install git+https://github.com/tier4/t4-devkit@v0.5.1
 
 # Install autoware-perception-evaluation
-RUN python3 -m pip install git+https://github.com/tier4/autoware_perception_evaluation@9d8c9773d35177bb0b7f2606f429f58a5fb708ca
+RUN python3 -m pip install git+https://github.com/tier4/autoware_perception_evaluation@3c9577dc23fd76a049559b42656ca46c1c32fa66
 
 # Need to dowgrade setuptools to 60.2.0 to fix setup
 RUN python3 -m pip --no-cache-dir install \
     setuptools==60.2.0 \
     transformers==4.51.3 \
-    polars==1.37.1
+    polars==1.37.1 \
+		onnx_graphsurgeon==0.5.8 \
+		spconv-cu126==2.3.8
 
 # NOTE(knzo25): this patch is needed to use numpy versions over 1.23.5 (version used in mmdet3d 1.4.0)
 # It can be safely deleted when mmdet3d updates the numpy version

@@ -91,8 +91,8 @@
     "pedestrian.stroller": "pedestrian",
     "pedestrian.wheelchair": "pedestrian",
     "movable_object.barrier": "barrier",
-    "movable_object.debris": "debris",
-    "movable_object.pushable_pullable": "pushable_pullable",
+    "movable_object.debris": "barrier",
+    "movable_object.pushable_pullable": "barrier",
     "movable_object.trafficcone": "traffic_cone",
     "movable_object.traffic_cone": "traffic_cone",
     "animal": "animal",
@@ -113,7 +113,7 @@
     # DBv2.0 and DBv3.0
     "animal": "animal",
     "movable_object.barrier": "barrier",
-    "movable_object.pushable_pullable": "pushable_pullable",
+    "movable_object.pushable_pullable": "barrier",
     "movable_object.traffic_cone": "traffic_cone",
     "pedestrian.adult": "pedestrian",
     "pedestrian.child": "pedestrian",
@@ -143,15 +143,12 @@
     "semi_trailer": "trailer",
     "tractor_unit": "truck",
     "construction_vehicle": "truck",
+    "traffic_cone": "traffic_cone",
+    "trafficcone": "traffic_cone",
+    "barrier": "barrier",
 }
 
-class_names = [
-    "car",
-    "truck",
-    "bus",
-    "bicycle",
-    "pedestrian",
-]
+class_names = ["car", "truck", "bus", "bicycle", "pedestrian", "traffic_cone", "barrier"]
 num_class = len(class_names)
 metainfo = dict(classes=class_names)
 

@@ -72,8 +72,8 @@
     "pedestrian.stroller": "pedestrian",
     "pedestrian.wheelchair": "pedestrian",
     "movable_object.barrier": "barrier",
-    "movable_object.debris": "debris",
-    "movable_object.pushable_pullable": "pushable_pullable",
+    "movable_object.debris": "barrier",
+    "movable_object.pushable_pullable": "barrier",
     "movable_object.trafficcone": "traffic_cone",
     "movable_object.traffic_cone": "traffic_cone",
     "animal": "animal",
@@ -94,7 +94,7 @@
     # DBv2.0 and DBv3.0
     "animal": "animal",
     "movable_object.barrier": "barrier",
-    "movable_object.pushable_pullable": "pushable_pullable",
+    "movable_object.pushable_pullable": "barrier",
     "movable_object.traffic_cone": "traffic_cone",
     "pedestrian.adult": "pedestrian",
     "pedestrian.child": "pedestrian",
@@ -124,6 +124,9 @@
     "semi_trailer": "trailer",
     "tractor_unit": "truck",
     "construction_vehicle": "truck",
+    "traffic_cone": "traffic_cone",
+    "trafficcone": "traffic_cone",
+    "barrier": "barrier",
 }
 
 class_names = [
@@ -132,6 +135,8 @@
     "bus",
     "bicycle",
     "pedestrian",
+    "traffic_cone",
+    "barrier",
 ]
 num_class = len(class_names)
 metainfo = dict(classes=class_names)

@@ -78,8 +78,8 @@
     "pedestrian.stroller": "pedestrian",
     "pedestrian.wheelchair": "pedestrian",
     "movable_object.barrier": "barrier",
-    "movable_object.debris": "debris",
-    "movable_object.pushable_pullable": "pushable_pullable",
+    "movable_object.debris": "barrier",
+    "movable_object.pushable_pullable": "barrier",
     "movable_object.trafficcone": "traffic_cone",
     "movable_object.traffic_cone": "traffic_cone",
     "animal": "animal",
@@ -100,7 +100,7 @@
     # DBv2.0 and DBv3.0
     "animal": "animal",
     "movable_object.barrier": "barrier",
-    "movable_object.pushable_pullable": "pushable_pullable",
+    "movable_object.pushable_pullable": "barrier",
     "movable_object.traffic_cone": "traffic_cone",
     "pedestrian.adult": "pedestrian",
     "pedestrian.child": "pedestrian",
@@ -130,14 +130,20 @@
     "semi_trailer": "trailer",
     "tractor_unit": "truck",
     "construction_vehicle": "truck",
+    "traffic_cone": "traffic_cone",
+    "trafficcone": "traffic_cone",
+    "barrier": "barrier",
 }
 
+
 class_names = [
     "car",
     "truck",
     "bus",
     "bicycle",
     "pedestrian",
+    "traffic_cone",
+    "barrier",
 ]
 num_class = len(class_names)
 metainfo = dict(classes=class_names)

@@ -0,0 +1,194 @@
+custom_imports = dict(
+    imports=[
+        "autoware_ml.detection3d.datasets.t4dataset",
+        "autoware_ml.detection3d.evaluation.t4metric.t4metric",
+        "autoware_ml.detection3d.evaluation.t4metric.t4metric_v2",
+    ]
+)
+
+# dataset type setting
+dataset_type = "T4Dataset"
+info_train_file_name = "t4dataset_j6gen2_v2_infos_train.pkl"
+info_val_file_name = "t4dataset_j6gen2_v2_infos_val.pkl"
+info_test_file_name = "t4dataset_j6gen2_v2_infos_test.pkl"
+
+info_train_statistics_file_name = "t4dataset_j6gen2_v2_statistics_train.parquet"
+info_val_statistics_file_name = "t4dataset_j6gen2_v2_statistics_val.parquet"
+info_test_statistics_file_name = "t4dataset_j6gen2_v2_statistics_test.parquet"
+
+# dataset scene setting
+dataset_version_list = [
+    "db_j6gen2_v2",
+]
+
+dataset_test_groups = {
+    "j6gen2_v2": ("t4dataset_j6gen2_v2_infos_test.pkl", True),
+}
+
+# dataset format setting
+data_prefix = dict(
+    pts="",
+    CAM_FRONT="",
+    CAM_FRONT_LEFT="",
+    CAM_FRONT_RIGHT="",
+    CAM_BACK="",
+    CAM_BACK_RIGHT="",
+    CAM_BACK_LEFT="",
+    sweeps="",
+)
+camera_types = {
+    "CAM_FRONT",
+    "CAM_FRONT_RIGHT",
+    "CAM_FRONT_LEFT",
+    "CAM_BACK",
+    "CAM_BACK_LEFT",
+    "CAM_BACK_RIGHT",
+}
+
+# class setting
+name_mapping = {
+    # DBv1.0
+    "vehicle.car": "car",
+    "vehicle.construction": "truck",
+    "vehicle.emergency (ambulance & police)": "car",
+    "vehicle.motorcycle": "bicycle",
+    "vehicle.trailer": "trailer",
+    "vehicle.truck": "truck",
+    "vehicle.bicycle": "bicycle",
+    "vehicle.bus (bendy & rigid)": "bus",
+    "pedestrian.adult": "pedestrian",
+    "pedestrian.child": "pedestrian",
+    "pedestrian.construction_worker": "pedestrian",
+    "pedestrian.personal_mobility": "pedestrian",
+    "pedestrian.police_officer": "pedestrian",
+    "pedestrian.stroller": "pedestrian",
+    "pedestrian.wheelchair": "pedestrian",
+    "movable_object.barrier": "barrier",
+    "movable_object.debris": "barrier",
+    "movable_object.pushable_pullable": "barrier",
+    "movable_object.trafficcone": "traffic_cone",
+    "movable_object.traffic_cone": "traffic_cone",
+    "animal": "animal",
+    "static_object.bicycle_rack": "bicycle_rack",
+    # DBv1.1 and UCv2.0
+    "car": "car",
+    "truck": "truck",
+    "bus": "bus",
+    "trailer": "trailer",
+    "motorcycle": "bicycle",
+    "bicycle": "bicycle",
+    "police_car": "car",
+    "pedestrian": "pedestrian",
+    "police_officer": "pedestrian",
+    "forklift": "car",
+    "construction_worker": "pedestrian",
+    "stroller": "pedestrian",
+    # DBv2.0 and DBv3.0
+    "animal": "animal",
+    "movable_object.barrier": "barrier",
+    "movable_object.pushable_pullable": "barrier",
+    "movable_object.traffic_cone": "traffic_cone",
+    "pedestrian.adult": "pedestrian",
+    "pedestrian.child": "pedestrian",
+    "pedestrian.construction_worker": "pedestrian",
+    "pedestrian.personal_mobility": "pedestrian",
+    "pedestrian.police_officer": "pedestrian",
+    "pedestrian.stroller": "pedestrian",
+    "pedestrian.wheelchair": "pedestrian",
+    "static_object.bicycle rack": "bicycle rack",
+    "static_object.bollard": "bollard",
+    "vehicle.ambulance": "car",  # Define vehicle.ambulance as car since vehicle.emergency (ambulance & police) is defined as car
+    "vehicle.bicycle": "bicycle",
+    "vehicle.bus": "bus",
+    "vehicle.car": "car",
+    "vehicle.construction": "truck",
+    "vehicle.fire": "truck",
+    "vehicle.motorcycle": "bicycle",
+    "vehicle.police": "car",
+    "vehicle.trailer": "trailer",
+    "vehicle.truck": "truck",
+    # DBv1.3
+    "ambulance": "car",
+    "kart": "car",
+    "wheelchair": "pedestrian",
+    "personal_mobility": "pedestrian",
+    "fire_truck": "truck",
+    "semi_trailer": "trailer",
+    "tractor_unit": "truck",
+    "construction_vehicle": "truck",
+    "traffic_cone": "traffic_cone",
+    "trafficcone": "traffic_cone",
+    "barrier": "barrier",
+}
+
+class_names = [
+    "car",
+    "truck",
+    "bus",
+    "bicycle",
+    "pedestrian",
+    "traffic_cone",
+    "barrier",
+]
+num_class = len(class_names)
+metainfo = dict(classes=class_names)
+
+merge_objects = [
+    ("truck", ["truck", "trailer"]),
+]
+merge_type = "extend_longer"  # One of ["extend_longer","union", None]
+
+# visualization
+class_colors = {
+    "car": (30, 144, 255),
+    "truck": (140, 0, 255),
+    "construction_vehicle": (255, 255, 0),
+    "bus": (111, 255, 111),
+    "trailer": (0, 255, 255),
+    "barrier": (0, 0, 0),
+    "motorcycle": (100, 0, 30),
+    "bicycle": (255, 0, 30),
+    "pedestrian": (255, 200, 200),
+    "traffic_cone": (120, 120, 120),
+}
+camera_panels = [
+    "data/CAM_FRONT_LEFT",
+    "data/CAM_FRONT",
+    "data/CAM_FRONT_RIGHT",
+    "data/CAM_BACK_LEFT",
+    "data/CAM_BACK",
+    "data/CAM_BACK_RIGHT",
+]
+
+filter_attributes = [
+    ("vehicle.bicycle", "vehicle_state.parked"),
+    ("vehicle.bicycle", "cycle_state.without_rider"),
+    ("vehicle.bicycle", "motorcycle_state.without_rider"),
+    ("vehicle.motorcycle", "vehicle_state.parked"),
+    ("vehicle.motorcycle", "cycle_state.without_rider"),
+    ("vehicle.motorcycle", "motorcycle_state.without_rider"),
+    ("bicycle", "vehicle_state.parked"),
+    ("bicycle", "cycle_state.without_rider"),
+    ("bicycle", "motorcycle_state.without_rider"),
+    ("motorcycle", "vehicle_state.parked"),
+    ("motorcycle", "cycle_state.without_rider"),
+    ("motorcycle", "motorcycle_state.without_rider"),
+]
+
+evaluator_metric_configs = dict(
+    evaluation_task="detection",
+    target_labels=class_names,
+    center_distance_bev_thresholds=[0.5, 1.0, 2.0, 4.0],
+    # plane_distance_thresholds is required for the pass fail evaluation
+    plane_distance_thresholds=[2.0, 4.0],
+    iou_2d_thresholds=None,
+    iou_3d_thresholds=None,
+    label_prefix="autoware",
+    # bev minimum distance ranges for each range bucket, must be the same length as max_distance,
+    # they will form bev distance ranges in [(min_distance[0], max_distance[0]), (min_distance[1], max_distance[1]), ...] when filtering
+    min_distance=[0.0, 50.0, 90.0, 0.0],
+    # bev maximum distance ranges for each range bucket, must be the same length as min_distance
+    max_distance=[50.0, 90.0, 121.0, 121.0],
+    min_point_numbers=0,
+    matching_class_agnostic_fps=False,
+)
@@ -68,8 +68,8 @@
     "pedestrian.stroller": "pedestrian",
     "pedestrian.wheelchair": "pedestrian",
     "movable_object.barrier": "barrier",
-    "movable_object.debris": "debris",
-    "movable_object.pushable_pullable": "pushable_pullable",
+    "movable_object.debris": "barrier",
+    "movable_object.pushable_pullable": "barrier",
     "movable_object.trafficcone": "traffic_cone",
     "movable_object.traffic_cone": "traffic_cone",
     "animal": "animal",
@@ -90,7 +90,7 @@
     # DBv2.0 and DBv3.0
     "animal": "animal",
     "movable_object.barrier": "barrier",
-    "movable_object.pushable_pullable": "pushable_pullable",
+    "movable_object.pushable_pullable": "barrier",
     "movable_object.traffic_cone": "traffic_cone",
     "pedestrian.adult": "pedestrian",
     "pedestrian.child": "pedestrian",
@@ -120,6 +120,9 @@
     "semi_trailer": "trailer",
     "tractor_unit": "truck",
     "construction_vehicle": "truck",
+    "traffic_cone": "traffic_cone",
+    "trafficcone": "traffic_cone",
+    "barrier": "barrier",
 }
 
 class_names = [
@@ -128,7 +131,10 @@
     "bus",
     "bicycle",
     "pedestrian",
+    "traffic_cone",
+    "barrier",
 ]
+
 num_class = len(class_names)
 metainfo = dict(classes=class_names)