User Manual For Yam Tool Modification As Per Subaru Requirement

AUTOLIV
USER MANUAL FOR YAM TOOL MODIFICATION

As Per Subaru Requirement
26-04-2018
VERSION 3
SUBMITTED BY
YAM Tool User Manual Version 1.0
DOCUMENT RELEASE NOTICE
Document Details:
Name Version No. Description

User Manual for YAM Tool 3.0 User Manual document for YAM
Tool
Revision Details
Version Comment
3.0 Manual created by -> TCS Offshore Team
Action taken Preceding page no. New page no. Revision description
(Add / Del / Chg)
Review:
Reviewer Date
Approval:
Approver Date
TCS Autoliv Confidential

Contents
1 REVISION HISTORY ...................................................................................... 7

2 GLOSSARY ................................................................................................. 7
3 GENERAL INFORMATION ............................................................................... 8
SYSTEM REQUIREMENTS ............................................................................ 8
Hardware Requirements .................................................................. 8
Operating system .......................................................................... 8
4 INTRODUCTION .......................................................................................... 9
5 PRE-REQUISITE ......................................................................................... 10
6 FEATURES VALIDATION IN YAM .................................................................... 14
PEDESTRIAN ........................................................................................ 14
AHB (LIGHT SOURCE) ............................................................................. 17
TRAFFIC LIGHT ..................................................................................... 21
SCENE ANNOTATION .............................................................................. 24
LANE LINE ........................................................................................... 27
ROAD EDGE ......................................................................................... 32
TSR ................................................................................................... 35
TWO WHEELER ..................................................................................... 38
VEHICLE ............................................................................................. 41
STOPLINE ........................................................................................ 44
CROSSWALK ..................................................................................... 47
ROAD MARKING ................................................................................. 50
VEHICLE 3D MARKING .......................................................................... 53
FRAME SKIP FUNCTIONALITY ................................................................. 59
DRIVING PATH ................................................................................... 61

List of Figures
Figure 1: Release folder ...................................................................................... 10
Figure 2: .exe in YAM ......................................................................................... 10
Figure 3: YAM main window ................................................................................. 10
Figure 4: chunk inspector in YAM ........................................................................... 11
Figure 5: DAT files............................................................................................. 11
Figure 6: property editor in YAM ........................................................................... 11
Figure 7: SDD JSON file ....................................................................................... 12
Figure 8: Marking Function in YAM ......................................................................... 12
Figure 9: e.g. Lane line marking ............................................................................ 12
Figure 10: Save the marking file ............................................................................ 13
Figure 11: chunk inspector in YAM ......................................................................... 14
Figure 12: DAT Files ........................................................................................... 14
Figure 13: property editor in YAM .......................................................................... 15
Figure 14: "pdmf" selected ................................................................................... 15
Figure 15: Marking of pedestrian ........................................................................... 15
Figure 16: property editor after modification............................................................ 16
Figure 17: Pedestrian marking is saved.................................................................... 16
Figure 19: DAT Files ........................................................................................... 17
Figure 21: lsrb is selected ................................................................................... 18
Figure 22: lsrb marking ....................................................................................... 18
Figure 23: Attributes are added in property editor ..................................................... 19
Figure 24: Light Source marking is saved ................................................................. 20
Figure 26: DAT Files ........................................................................................... 21
Figure 28: tlmf is selected ................................................................................... 22
Figure 29: marking of tlmf ................................................................................... 23
Figure 30: property editor is modified .................................................................... 23
Figure 31: Traffic Light marking is saved ................................................................. 23
Figure 33: DAT Files ........................................................................................... 24
Figure 35: Metadata editor in YAM ......................................................................... 25
Figure 36: Attributes are added in Metadata editor .................................................... 26
Figure 37: Scene Annotation marking is saved ........................................................... 26
Figure 39: DAT Files ........................................................................................... 27
Figure 41: "lvm" marking is selected ....................................................................... 28
Figure 42: Marking of Lane line ............................................................................. 28
Figure 45: Lane line marking is saved ..................................................................... 31
Figure 47: DAT Files ........................................................................................... 32
Figure 49: "rdmf" is selected ................................................................................ 33
Figure 50: Marking of Road Edge ........................................................................... 33
Figure 52: Road Edge marking is saved .................................................................... 34


Figure 54: DAT files ........................................................................................... 35
Figure 56: "tsrtmf" is selected .............................................................................. 36
Figure 57: Marking of Traffic Sign .......................................................................... 36
Figure 59: TSR marking is saved ............................................................................ 37
Figure 62: "twmf" is selected ................................................................................ 39
Figure 63: Marking of Two Wheeler ........................................................................ 39
Figure 65: Two Wheeler marking is saved ................................................................ 40
Figure 67: DAT files ........................................................................................... 41
Figure 69: "vdmf" is selected ................................................................................ 42
Figure 70: Marking of Vehicle ............................................................................... 42
Figure 73: Vehicle marking is saved ........................................................................ 43
Figure 75: DAT files ........................................................................................... 44
Figure 77: "slmf" is selected ................................................................................. 45
Figure 78: Marking of Stopline .............................................................................. 45
Figure 80: Stopline marking is saved ....................................................................... 46
Figure 82: DAT files ........................................................................................... 47
Figure 84: "crmf" is selected ................................................................................ 48
Figure 85: Marking of Crosswalk ............................................................................ 48
Figure 87: Crosswalk marking is saved..................................................................... 49
Figure 89: DAT files ........................................................................................... 50
Figure 91: "rmf" is selected .................................................................................. 51
Figure 92: Marking of Road Marking ........................................................................ 51
Figure 94: Road Marking is saved ........................................................................... 52
Figure 96: DAT files ........................................................................................... 53
Figure 98: v3dmf is selected ................................................................................ 54
Figure 99: Marking of primary point ....................................................................... 54
Figure 100: Other bottom point of the side view ........................................................ 54
Figure 101: Top point of side view ......................................................................... 55
Figure 102: Top point of intersection line ................................................................ 55
Figure 103: Top point of the front/rear view ............................................................ 55
Figure 104: Bottom point of the front/rear view ........................................................ 56
Figure 105: Warning Message ................................................................................ 56
Figure 106: Property editor is modified ................................................................... 58

Figure 107: Vehicle 3D marking is saved .................................................................. 58

Figure 108: chunk inspector in YAM ........................................................................ 59
Figure 109: DAT Files ......................................................................................... 60
Figure 110: property editor in YAM ........................................................................ 60
Figure 111: chunk inspector in YAM ........................................................................ 61
Figure 112: DAT files .......................................................................................... 62
Figure 113: property editor in YAM ........................................................................ 62
Figure 114: hpmf marking is selected ..................................................................... 62
Figure 115: Metadata editor in YAM........................................................................ 62
Figure 116: hpmd from Metadata editor window ........................................................ 63
Figure 117: Driving Path marking ........................................................................... 63
Figure 118: Property editor is modified ................................................................... 63
Figure 119: Driving Path marking is saved ................................................................ 64

Version Comment
1.0 Created by -> TCS Offshore Team
2.0 Created by-> TCS Offshore Team
3.0 Created by-> TCS Offshore Team
Term Definition
pdmf Pedestrian Marking Field

lsrb Light Source
tlmf Traffic Light Marking Field
scmd Scene Annotation Marking Field
lvm Lane line Marking Field
rdmf Road Edge Marking Field
tsrtmf Traffic Sign Recognition Triangular Marking Field
twmf Two Wheeler Marking Field
vdmf Vehicle Detection Marking Field
slmf Stopline Marking Field
crmf Crosswalk Marking Field
rmf Road Marking Field
.exe Executable File
.dat Data File
JSON JavaScript Object Notation
hpmf Driving Path Marking Field
V3dmf Vehicle 3D Marking Field
TCS Autoliv Confidential Page 7

System Requirements
Hardware Requirements
These are the minimum requirements to run YAM Tool on an x64 PC.
X64 architecture
 4 GB memory
 Pentium (or comparable) processor or higher
 1.5 GB of hard disk storage
 .NET Framework 4.5 installed.
Operating system
YAM Tool runs on PC with Microsoft Windows operating system. The following Windows versions
are supported and tested:
 Windows 7, Windows 8, Windows 10 64 Bit.

YAM Tool is used to perform labeling of data recorded from Active Safety sensors. The marking
is used in the same sense as labeling.
“Media files” are the input to the YAM. The data inside the Media Files is organized in streams
(each stream contains a different kind of data, e.g. Video Left image, Video Right image, GPS,
vehicle bus data).
Individual "packets" of data are called "chunks", and each chunk has a timestamp attached.
YAM produces text files as output (.txt), where it stores the information generated during the
labeling process. These output files are also referred to as "FileInfo files", and their name ends
with "_FileInfo.txt".
The fileinfo file has a structure which is documented in another file, of type SDD (SDD is defined
in-house by Autoliv).

This section describes how to run the YAM Tool on your computer.
1) Copy the release folder on your computer.
Figure 1: Release folder
2) Open the release folder in which .exe is present.
Figure 2: .exe in YAM
3) After running the .exe file the YAM window is open.
Figure 3: YAM main window
4) Go to window->create new and select chunk inspector.

Figure 4: chunk inspector in YAM
5) Run .exe file. Select the .dat file from “Open Media File” button .(e.g.
20170627_1024_converted_0_dat.dat)
Figure 5: DAT files
6) Go to window->create new and select property editor.
Figure 6: property editor in YAM
7) Select the SDD JSON file from the dropdown (e.g. v_mrf_4_37).

Figure 7: SDD JSON file
8) Select the different marking field from drop down menu (e.g. Pdmf,lvm)
Figure 8: Marking Function in YAM
9) Go to chunk inspector, mark the selected feature in chunk inspector.
Figure 9: e.g. Lane line marking
10) Save the marking file with extension “_fileInfo.txt”

Figure 10: Save the marking file

YAM tool is used for labeling of data. There are different features in YAM (e.g. pedestrian,
AHB,Traffic Light,Two Wheeler). We have added some attributes in particular feature.
Below are some features in YAM tool:
Pedestrian
Following are the steps to mark the pedestrian:
1. Run .exe file. Go to window->create new and select chunk inspector.
2. Select the .dat file from “Open Media File” button.(e.g. 20170627_0758_converted_1.dat)
Figure 12: DAT Files

3. Go to window->create new and select property editor.
4. For Pedestrian, select the marking field as “pdmf” from marking drop down.
Figure 14: "pdmf" selected
5. Go to chunk inspector, mark the pedestrian in chunk inspector. Marking is performed

using keyboard and mouse actions. Drag the box using “ctrl+left mouse button”.
Figure 15: Marking of pedestrian
6. We have added some properties in the property editor window (e.g. Color of marking)
Attribute Type Comments
Red (Pedestrian)
Yellow (non-target region)
Color of marking Color of marking

front
back Direction of pedestrian facing

vehicle
Direction left
(directionPedestrian)
right
with an umbrella
umbrella without an umbrella Presence of umbrella
noise with noise Presence of noise
Figure 16: property editor after modification
7. Save the marking file with extension “_fileInfo.txt”
Figure 17: Pedestrian marking is saved

AHB (Light Source)

Following are the steps to mark the Light Source:

3. For light source select the marking function as “lsrb”.
Figure 21: lsrb is selected
4. Go to chunk inspector, mark the Light source in chunk inspector. Marking is performed
Figure 22: lsrb marking
5. We have added some properties in the property editor window (e.g. Color of marking)
Red (Front Vehicle)
Yellow (Oncoming
Motorbike)
Color of marking Yellow (Oncoming Vehicle) Color of marking
Blue (Street Lamp)
Red (Front Motorbike)

frontVehicle
oncomingVehicle
lightSource streetLamp Defines which type of light

source is present
oncomingMotorbike
oncomingBicycle
frontMotorbike
totalNumberOfOncoming 3 Defines total number of

oncoming vehicles and
VehiclesAndFrontVehicles 4 front vehicles in a frame
totalNumberofStreetLamps 3 Defines total number of

street lamps in a frame
4
Figure 23: Attributes are added in property editor

Figure 24: Light Source marking is saved

Traffic Light
Following are the steps to mark the Traffic Light:

4. For traffic light select the marking function as “tlmf”.
Figure 28: tlmf is selected
5. Go to chunk inspector, mark the Traffic light in chunk inspector. Marking is performed
lampColor Arrow "Arrow" describes the pattern

arrow on traffic sign board.
Unknown "Unknown" describes the

pattern, other than the
patterns described in the list
on traffic sign board.
Straight On This attribute describes

“straight” direction on traffic
Off sign board
Left (left1) On This attribute describes “left”

direction on traffic sign board.
Off
Right (right1) On This attribute describes “right”

direction on traffic sign board.
Off
Other arrow On This attribute describes arrow

sign other than
Off “straight”,”left1”,”right1” traffic
sign.

Figure 29: marking of tlmf
6. We have added some properties in the property editor window (e.g. lampColor)
Figure 30: property editor is modified
Figure 31: Traffic Light marking is saved

Scene Annotation
Following are the steps to mark the Scene Annotation:
2. Select the .dat file from “Open Media File” button.(e.g.


4. Go to window->create new and select metadata editor
Figure 35: Metadata editor in YAM
5. We have added some properties in the property editor window.
Scene annotation NA New metadata feature

“scmd” added
pavementCondition pavement Describes type of

pavement
nonPavement
frontVehicle exist Describes presence of

front vehicle in the same
none lane
interruptingVehicle exist Describes a state where

less than all of the tires of
none the vehicle of the adjacent
lane are contained in the
own lane.
positionOfIntersection top Describes presence of

intersection to the vehicle.
else
curve inCurve Describes the vehicle is

driving in a curve.
outCurve
moreThanSixOncomingAnd largenumberOfFront
FrontVehicles Vehicles

smallNumberOfFront Defines number of

Vehicles oncoming and front
vehicles
moreThanSixStreetLamps largeNumberOfStreet Defines number of street

Lamps lamps
smallNumberOfStreet
Lamps
Figure 36: Attributes are added in Metadata editor
Figure 37: Scene Annotation marking is saved

Lane line
Following are the steps to mark the Lane line:


4. For Lane line select the marking function as “lvm”.
Figure 41: "lvm" marking is selected
5. Go to chunk inspector, mark the Lane line in chunk inspector. Marking is performed using
keyboard and mouse actions. Draw the primary point using “ctrl+left mouse button”
and secondary points using “shift+left mouse button”.
Figure 42: Marking of Lane line
Color of marking white Color with which lane line

(markingColor) is to be marked.
yellow
orange
red
blue
Color of marking white Color of lane line.

(laneColor)
yellow
orange
red
blue
others
nothing
Form (objectType) dashed narrow Set type of surface

markings.
dashed wide
numberOfLines nothing Set number of lines.
single
oneAndHalf
double
tripleOrMore
laneChange enable Set change of lane
disable
whiteLinePosition LL Set position of white line.
LR
RL
RL
branching startOfBranch Set type of branching.
whileBranching
endOfBranch
noBranching
merging startOfMerging Set type of merging.
WhileMerging
endOfMerging
noMerging
carPoolLane yes

No Description of car pool

lane
intersection yes Description of intersection.
no
disappearingLine exist Description of

disappearing line.
none
splitLine exist Description of split line.
none
oneLaneInEachDirection exist Description of one lane in

each direction.
none
jam exist Description of jam present.
none
multipleLines exist Description of multiple

lines.
none

Figure 45: Lane line marking is saved

Road Edge
Following are the steps to mark the Road Edge:


4. For Road Edge select the marking function as “rdmf”.
Figure 49: "rdmf" is selected
5. Go to chunk inspector, mark the Road Edge in chunk inspector. Marking is performed
using keyboard and mouse actions. Draw the first point using “ctrl+left mouse button”
and second point using “shift+left mouse button”.
Figure 50: Marking of Road Edge
Red (Guard Rail)

Yellow (Grass)

Blue (Step)
Step
Ballast
Grass
Boundary Bank Supporting points type

(supportingPointsType)
Gully Edge types
Wall
Guard Rail
Figure 52: Road Edge marking is saved

TSR
Following are the steps to mark the TSR:
Figure 54: DAT files
4. For TSR select the marking function as “tsrtmf”.

Figure 56: "tsrtmf" is selected
5. Go to chunk inspector, mark the Traffic Sign in chunk inspector. Marking is performed
Figure 57: Marking of Traffic Sign
CrosswalkType true Presence of cross walk
false

Figure 59: TSR marking is saved

Two Wheeler
Following are the steps to mark the Two Wheeler:

4. For Two Wheeler select the marking function as “twmf”.
Figure 62: "twmf" is selected
5. Go to chunk inspector, mark the Two Wheeler in chunk inspector. Marking is performed
Figure 63: Marking of Two Wheeler
Red (bike)

noise With noise Presence of noise
frontBike front bike Presence of front bike

none
Figure 65: Two Wheeler marking is saved

Vehicle
Following are the steps to mark the Vehicle:


2. For Vehicle select the marking function as “vdmf”.
Figure 69: "vdmf" is selected
3. Go to chunk inspector, mark the Vehicle in chunk inspector. Marking is performed using
keyboard and mouse actions. Drag the box using “ctrl+left mouse button”.
Figure 70: Marking of Vehicle
Category Ordinary vehicle with trunk Car includes types ‘car’,

(objectType) ‘minibus’ and ‘van’,
othervehicle should contain
Ordinary vehicle without trunk
‘caravan’, ‘motorhome’.
Dump truck
Fire truck
Motorbike
truck with carrier
Vehicle carrier
truck with box
Noise with noise Presence of noise

Color of vehicle marking Green (vehicle rear) Color of vehicle marking
Figure 73: Vehicle marking is saved

Stopline
Following are the steps to mark the Stopline:

20170627_0758_converted_57.dat)

4. For Stopline select the marking function as “slmf”.
Figure 77: "slmf" is selected
5. Go to chunk inspector, mark the Stopline in chunk inspector. Marking is performed using
keyboard and mouse actions. Drag the box using “ctrl+left mouse button”.
Figure 78: Marking of Stopline
Location top Top, bottom, left, right

coordinates of marked
patch.
bottom
left
right
Noise With noise With Noise Any situation

where the stop line is hard to
Without noise see (partially invisible, etc...)

Figure 80: Stopline marking is saved

Crosswalk
Following are the steps to mark the Crosswalk:

20170627_0758_converted_57.dat)

4. For Crosswalk, select the marking function as “crmf”.
Figure 84: "crmf" is selected
5. Go to chunk inspector, mark the Crosswalk in chunk inspector. Marking is performed

Figure 85: Marking of Crosswalk
Location top Top, bottom, left, right

coordinates of marked
patch.
bottom
left
right
Occlusion Occluded
Non occluded

Figure 87: Crosswalk marking is saved

Road Marking
Following are the steps to mark the Road Marking:

20170627_0758_converted_57.dat)

4. For Road Marking, select the marking function as “rmf”.
Figure 91: "rmf" is selected
5. Go to chunk inspector, mark the Road Marking in chunk inspector. Marking is performed
Figure 92: Marking of Road Marking
Occlusion Occluded
Non occluded
Noise With noise Presence of noise
Lane information Own lane Provide information about lane.
Left lane
Right lane

Figure 94: Road Marking is saved

Vehicle 3D marking
Following are the steps to mark the Vehicle in 3D shape:


3. For Vehicle 3D marking, select the marking function as “v3dmf”.
Figure 98: v3dmf is selected
4. Go to chunk inspector, mark the vehicle in chunk inspector using “ctrl + left” mouse
button for bottom point of the intersection line between front/rear and side view.
Primary
point
Figure 99: Marking of primary point
5. Mark the following points using “shift+ left” mouse button sequentially:
a. Other bottom point of the side view
Figure 100: Other bottom point of the side view
b. Top point of side view

Figure 101: Top point of side view
c. Top point of intersection line
Figure 102: Top point of intersection line
d. Top point of the front/rear view
Figure 103: Top point of the front/rear view

e. Bottom point of the front/rear view
Figure 104: Bottom point of the front/rear view
6. If only Right/Left side is visible (Front side based/Rear side based) then give only 4 points
of marking.
7. Once the marking gets completed for current object, we get a warning “Marking
completed for current object”. You can mark another object using step 4.
Figure 105: Warning Message
Occlusion Occluded Describe Vehicle is

occluded or not.
Non-occluded
Ignoring target All vehicles on highway
Other than the above

Category Ordinary vehicle with trunk
Ordinary vehicle
WITHOUT trunk
Truck with carrier
Truck with box
Bus
Vehicles carrier
Dump truck
Fire truck
Others
Noise With noise
Without noise
Brake Brake on
Brake off
Blinker Left

Right
Hazard
None
Front Vehicle Front Vehicle
None
Direction Front
Rear
Figure 106: Property editor is modified
Figure 107: Vehicle 3D marking is saved

Frame Skip Functionality
Following are the steps to check the Frame Skip functionality:


4. Following are the shortcut keys to check Frame Skip functionalities for different step size:
Shortcut Key Step Size Description
Ctrl+r 1 Forward skips the frame by

step size “1”.
Ctrl+e 1 Backward skips the frame by

step size “1”.
3 Forward skips the frame by

B step size “3”.
3 Backward skips the frame by

V step size “3”.

M step size “5”.

N step size “5”.


P step size “10”.

O step size “10”.
Driving Path
Following are the steps to mark the Driving path:


4. For Driving Path marking, select the marking function as “hpmf”.
Figure 114: hpmf marking is selected
5. Go to window->create new and select metadata editor.
Figure 115: Metadata editor in YAM

6. Select “hpmd” from metadata editor window.
Figure 116: hpmd from Metadata editor window
7. Go to chunk inspector, mark one or more than one point in chunk inspector. Marking is
performed using keyboard and mouse actions. . Draw the point using “ctrl+left mouse
button”.
Figure 117: Driving Path marking
Attribute Type Comment
Running state Route change Define running state
Normal travel time
Driving state Normal driving Define state of driving
Lane change
Figure 118: Property editor is modified

Figure 119: Driving Path marking is saved

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AUTOLIV

USER MANUAL FOR YAM TOOL MODIFICATION

DOCUMENT RELEASE NOTICE

Name Version No. Description

TCS Autoliv Confidential

1 REVISION HISTORY ...................................................................................... 7

TCS Autoliv Confidential

TCS Autoliv Confidential

Figure 53: chunk inspector in YAM ......................................................................... 35

TCS Autoliv Confidential

Figure 107: Vehicle 3D marking is saved .................................................................. 58

TCS Autoliv Confidential

2.0 Created by-> TCS Offshore Team

3.0 Created by-> TCS Offshore Team

pdmf Pedestrian Marking Field

TCS Autoliv Confidential Page 7

 Windows 7, Windows 8, Windows 10 64 Bit.

TCS Autoliv Confidential Page 8

TCS Autoliv Confidential Page 9

1) Copy the release folder on your computer.

Figure 1: Release folder

2) Open the release folder in which .exe is present.

Figure 2: .exe in YAM

3) After running the .exe file the YAM window is open.

Figure 3: YAM main window

4) Go to window->create new and select chunk inspector.

TCS Autoliv Confidential Page 10

Figure 4: chunk inspector in YAM

Figure 5: DAT files

6) Go to window->create new and select property editor.

Figure 6: property editor in YAM

TCS Autoliv Confidential Page 11

Figure 7: SDD JSON file

Figure 8: Marking Function in YAM

9) Go to chunk inspector, mark the selected feature in chunk inspector.

Figure 9: e.g. Lane line marking

10) Save the marking file with extension “_fileInfo.txt”

TCS Autoliv Confidential Page 12

Figure 10: Save the marking file

TCS Autoliv Confidential Page 13

1. Run .exe file. Go to window->create new and select chunk inspector.

Figure 11: chunk inspector in YAM

Figure 12: DAT Files

TCS Autoliv Confidential Page 14

3. Go to window->create new and select property editor.

Figure 13: property editor in YAM

Figure 14: "pdmf" selected

5. Go to chunk inspector, mark the pedestrian in chunk inspector. Marking is performed

Figure 15: Marking of pedestrian

Attribute Type Comments

TCS Autoliv Confidential Page 15

back Direction of pedestrian facing

umbrella without an umbrella Presence of umbrella

noise with noise Presence of noise

Figure 16: property editor after modification

7. Save the marking file with extension “_fileInfo.txt”

Figure 17: Pedestrian marking is saved

TCS Autoliv Confidential Page 16

AHB (Light Source)

1. Run .exe file. Go to window->create new and select chunk inspector.

Figure 18: chunk inspector in YAM

Figure 19: DAT Files