Waymo Open Dataset Toolkit

Description

A set of functions to extract and visualize Waymo Open Dataset.

Features

Extract images per frame per segment with corresponding labels
Extract images per camera with corresponding labels
Extracted images are stored as png
Extracted labels are in the format: object-class x y width height
Extract LiDAR data as point clouds with camera projections
Visualize LiDAR data as point cloud

Screenshots

Camera Data

Point Cloud Data

Requirements

Linux, Python, Waymo Open Dataset, OpenCV, Open3D

Usage

Repo consists src/extract.py to extract data and src/visualize.py to visualize camera and LiDAR data. Make sure you have gsutil set up correctly on your machine before trying to retrieve data.

License

Licensed under GNU AGPL v3.

harryrobotics/WaymoDataToolkit