Dataset Requirements

Structure (`STR`)

ID	Name	Severity	Description
`STR001`	`version-dir-presence`	`WARNING`	`version/` directory exists under the dataset root directory.
`STR002`	`annotation-dir-presence`	`ERROR`	`annotation/` directory exists under the dataset root directory.
`STR003`	`data-dir-presence`	`ERROR`	`data/` directory exists under the dataset root directory.
`STR004`	`map-dir-presence`	`WARNING`	`map/` directory exists under the dataset root directory.
`STR005`	`bag-dir-presence`	`WARNING`	`input_bag/` directory exists under the dataset root directory.
`STR006`	`status-file-presence`	`WARNING`	`status.json` file exists under the dataset root directory.
`STR007`	`schema-files-presence`	`ERROR`	Mandatory schema JSON files exist under the `annotation/` directory.
`STR008`	`lanelet-file-presence`	`WARNING`	`lanelet2_map.osm` file exists under the `map/` directory.
`STR009`	`pointcloud-map-dir-presence`	`WARNING`	`pointcloud_map.pcd` directory exists under the `map/` directory.

ID	Name	Severity	Description
`REC001`	`scene-single`	`ERROR`	`Scene` record is a single.
`REC002`	`sample-not-empty`	`ERROR`	`Sample` record is not empty.
`REC003`	`sample-data-not-empty`	`ERROR`	`SampleData` record is not empty.
`REC004`	`ego-pose-not-empty`	`ERROR`	`EgoPose` record is not empty.
`REC005`	`calibrated-sensor-non-empty`	`ERROR`	`CalibratedSensor` record is not empty.
`REC006`	`instance-not-empty`	`ERROR`	`Instance` record is not empty if either 'SampleAnnotation' or 'ObjectAnn' is not empty.

ID	Name	Severity	Description
`REF001`	`scene-to-log`	`ERROR`	`Scene.log_token` refers to `Log` record.
`REF002`	`scene-to-first-sample`	`ERROR`	`Scene.first_sample_token` refers to `Sample` record.
`REF003`	`scene-to-last-sample`	`ERROR`	`Scene.last_sample_token` refers to `Sample` record.
`REF004`	`sample-to-scene`	`ERROR`	`Sample.scene_token` refers to `Scene` record.
`REF005`	`sample-data-to-sample`	`ERROR`	`SampleData.sample_token` refers to `Sample` record.
`REF006`	`sample-data-to-ego-pose`	`ERROR`	`SampleData.ego_pose_token` refers to `EgoPose` record.
`REF007`	`sample-data-to-calibrated-sensor`	`ERROR`	`SampleData.calibrated_sensor_token` refers to `CalibratedSensor` record.
`REF008`	`calibrated-sensor-to-sensor`	`ERROR`	`CalibratedSensor.sensor_token` refers to `Sensor` record.
`REF009`	`instance-to-category`	`ERROR`	`Instance.category_token` refers to `Category` record.
`REF010`	`instance-to-first-sample-annotation`	`ERROR`	`Instance.first_annotation_token` refers to `SampleAnnotation` record.
`REF011`	`instance-to-last-sample-annotation`	`ERROR`	`Instance.last_annotation_token` refers to `SampleAnnotation` record.
`REF012`	`lidarseg-to-sample-data`	`ERROR`	`LidarSeg.sample_data_token` refers to `SampleData` record.

ID	Name	Severity	Description
`REF101`	`sample-next-to-another`	`ERROR`	`Sample.next` refers to another one unless it is empty.
`REF102`	`sample-prev-to-another`	`ERROR`	`Sample.prev` refers to another one unless it is empty.
`REF103`	`sample-annotation-next-to-another`	`ERROR`	`SampleAnnotation.next` refers to another one unless it is empty.
`REF104`	`sample-annotation-prev-to-another`	`ERROR`	`SampleAnnotation.prev` refers to another one unless it is empty.
`REF105`	`sample-data-next-to-another`	`ERROR`	`SampleData.next` refers to another one unless it is empty.
`REF106`	`sample-data-prev-to-another`	`ERROR`	`SampleData.prev` refers to another one unless it is empty.

ID	Name	Severity	Description
`REF201`	`sample-data-filename-presence`	`ERROR`	`SampleData.filename` exists.
`REF202`	`sample-data-info-filename-presence`	`ERROR`	`SampleData.info_filename` exists if it is not `None`.
`REF203`	`lidarseg-filename-presence`	`ERROR`	`LidarSeg.filename` exists if `lidarseg.json` exists.

ID	Name	Severity	Description
`REF301`	`pointcloud-metainfo-token-check`	`ERROR`	`PointCloudMetainfo sensor tokens` exists.

ID	Name	Severity	Description
`FMT001`	`attribute-field`	`ERROR`	All types of `Attribute` fields are valid.
`FMT002`	`calibrated-sensor-field`	`ERROR`	All types of `CalibratedSensor` fields are valid.
`FMT003`	`category-field`	`ERROR`	All types of `Category` fields are valid.
`FMT004`	`ego-pose-field`	`ERROR`	All types of `EgoPose` fields are valid.
`FMT005`	`instance-field`	`ERROR`	All types of `Instance` fields are valid.
`FMT006`	`log-field`	`ERROR`	All types of `Log` fields are valid.
`FMT007`	`map-field`	`ERROR`	All types of `Map` fields are valid.
`FMT008`	`sample-field`	`ERROR`	All types of `Sample` fields are valid.
`FMT009`	`sample-annotation-field`	`ERROR`	All types of `SampleAnnotation` fields are valid.
`FMT010`	`sample-data-field`	`ERROR`	All types of `SampleData` fields are valid.
`FMT011`	`scene-field`	`ERROR`	All types of `Scene` fields are valid.
`FMT012`	`sensor-field`	`ERROR`	All types of `Sensor` fields are valid.
`FMT013`	`visibility-field`	`ERROR`	All types of `Visibility` fields are valid.
`FMT014`	`lidarseg-field`	`ERROR`	All types of `Lidarseg` fields are valid.
`FMT015`	`object-ann-field`	`ERROR`	All types of `ObjectAnn` fields are valid.
`FMT016`	`surface-ann-field`	`ERROR`	All types of `SurfaceAnn` fields are valid.
`FMT017`	`keypoint-field`	`ERROR`	All types of `Keypoint` fields are valid.
`FMT018`	`vehicle-state-field`	`ERROR`	All types of `VehicleState` fields are valid.

ID	Name	Severity	Description
`TIV001`	`load-tier4`	`ERROR`	Ensure `Tier4` instance is loaded successfully.