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waymo_kitti_adapter's Issues

Tracking problem

I am working with tracking problem. How can I generate oxts folder (imu/gps information)?

Also how can I create planes for this dataset?

2D box is NOT right

After runing adapter.py , I just write a script to draw 2D box of objects. But it looks not right.
a

Unable to plot 3D bounding box

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'])
0

filter location

Why only use location_sf, filter out location_phx and location_other?

[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.

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?

Wrong lidar data transformation?

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:

Screenshot 2020-04-14 at 18 24 38
Screenshot 2020-04-14 at 18 24 53

On the 2D visualization it is clear that some points lie correctly, and some don't.

Screenshot 2020-04-14 at 19 29 41

I hope for your help.

do not use this repo ?

Hey all,

please do not use this repo. conversion is entirely wrong. not just in ground truth, but also in lots of cases.

bazel test waymo_open_dataset/metrics/ops/... fails!

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!

how to tranform 3d points from one frame to another

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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