yao-shao / waymo_kitti_adapter Goto Github PK
View Code? Open in Web Editor NEWA tool converting Waymo dataset format to Kitti dataset format.
License: MIT License
A tool converting Waymo dataset format to Kitti dataset format.
License: MIT License
I am working with tracking problem. How can I generate oxts folder (imu/gps information)?
Also how can I create planes for this dataset?
Hello. I downloaded waymo dataset tar file. Inside the tar file, there are no images, just tfrecord files. What should I do now?
Hello, I am using the following code to plot 3D bounding boxes in image plane:
box_3d = []
center = label_info['bbox3d_loc']
dims = label_info['bbox3d_dim']
rot_y = label_info['rot_y']
for i in [1, -1]:
for j in [1, -1]:
for k in [0, 1]:
point = np.copy(center)
point[1] = center[1] + i * dims[2] / 2 * np.cos(-rot_y + np.pi / 2) + (j * i) * dims[1] / 2 * np.cos(
-rot_y)
point[0] = center[0] + i * dims[2] / 2 * np.sin(-rot_y + np.pi / 2) + (j * i) * dims[1] / 2 * np.sin(
-rot_y)
point[2] = center[2] - k * dims[0]
point = np.append(point, 1)
point = np.dot(label_info['cam_to_img'], point)
point = point[:2] / point[2]
point = point.astype(np.int16)
box_3d.append(point)
point = np.copy(center)
point[0] = center[0]
point[2] = center[2]
point[1] = center[1]
point = np.append(point, 1)
point = np.dot(label_info['cam_to_img'], point)
point = point[:2] / point[2]
point = point.astype(np.int16)
box_3d.append(point)
for i in range(4):
point_1_ = box_3d[2 * i]
point_2_ = box_3d[2 * i + 1]
cv2.line(img, (point_1_[0], point_1_[1]), (point_2_[0], point_2_[1]), colors['pink'], 1)
for i in range(8):
point_1_ = box_3d[i]
point_2_ = box_3d[(i + 2) % 8]
cv2.line(img, (point_1_[0], point_1_[1]), (point_2_[0], point_2_[1]), colors['pink'], 1)
cv2.circle(img, (box_3d[-1][0], box_3d[-1][1]), 10, colors['red'], -1)
However, the bounding boxes are displaced up and slightly to the left or right. Please let me know what I can do here. I am using the P0 intrinsic matrix (label_info['cam_to_img'])
Why only use location_sf, filter out location_phx and location_other?
Hi, I was running adapter.py file and I encountered this error [libprotobuf ERROR google/protobuf/wire_format_lite.cc:581] String field 'waymo.open_dataset.Context.name' contains invalid UTF-8 data when parsing a protocol buffer. Use the 'bytes' type if you intend to send raw bytes., Can you please help me resolve this issue?
Hi @Yao-Shao ! Thank you for your very helpful tool! I have a problem with converted lidar data. Apparently, the data from some lidars wasn't been converted into vehicle coordinate system. 3D visualization shows it:
On the 2D visualization it is clear that some points lie correctly, and some don't.
I hope for your help.
Hey all,
please do not use this repo. conversion is entirely wrong. not just in ground truth, but also in lots of cases.
I followed your instructions and I get an error:
WARNING: /home/sarim/.cache/bazel/_bazel_sarim/3bfa1001fe6f3e1721e8eb15a171abf8/external/local_config_tf/BUILD:3823:1: target 'libtensorflow_framework.so' is both a rule and a file; please choose another name for the rule
INFO: Analyzed 4 targets (0 packages loaded, 0 targets configured).
INFO: Found 3 targets and 1 test target...
FAIL: //waymo_open_dataset/metrics/ops:detection_metrics_ops_test (see /home/sarim/.cache/bazel/_bazel_sarim/3bfa1001fe6f3e1721e8eb15a171abf8/execroot/__main__/bazel-out/k8-opt/testlogs/waymo_open_dataset/metrics/ops/detection_metrics_ops_test/test.log)
INFO: Elapsed time: 2.220s, Critical Path: 2.07s
INFO: 2 processes: 2 linux-sandbox.
INFO: Build completed, 1 test FAILED, 2 total actions
//waymo_open_dataset/metrics/ops:detection_metrics_ops_test FAILED in 2.0s
/home/sarim/.cache/bazel/_bazel_sarim/3bfa1001fe6f3e1721e8eb15a171abf8/execroot/__main__/bazel-out/k8-opt/testlogs/waymo_open_dataset/metrics/ops/detection_metrics_ops_test/test.log
INFO: Build completed, 1 test FAILED, 2 total actions
Please tell me how to fix this, thanks!
hi,
Yao-Shao,
thanks for your awesome work. may i ask a question about the transformation? how can man tranform 3d points from one frame to another(or is it even possible to do that?)
i know there is a 4x4 row major transform matrix. but it is 4x4. when we have points whose shape is (n, 3), how can we do the transform operation?
thanks for your reply in advance.
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