Alex Zhu

Hi there, sorry for the late response. We started out with 100k images to be labeled, but it seems that some have been lost due to data corruption on the...

timestamp_micros refers to the timestamp of the first top LiDAR scan for a given proto. The pose timestamp is the timestamp at which the provided vehicle pose is generated, and...

Thanks for calling this out, this kind of error is definitely concerning. However, I can't seem to replicate it on my end. Are you using the functions in utils/camera_segmentation_utils.py to...

Hi, to clarify a bit, are you trying to get the depth of a 2D box, or compute the distance from the vehicle for a 3D box?

I don't believe that there are associations between vehicle 2d and 3d boxes, so you may have to use the lidar depths to complete an approximate depth for the box...

There's not a canonical way, but one example would be to find the average depth of the lidar points that fall inside the box.

We provide the laser points projected to each camera here: https://github.com/waymo-research/waymo-open-dataset/blob/5f8a1cd42491210e7de629b6f8fc09b65e0cbe99/src/waymo_open_dataset/dataset.proto#L211. Given a 2D bounding box, you can find which of these laser points falls inside the box, and find...

Ah you're right. The projected lidar points can be found here then: https://github.com/waymo-research/waymo-open-dataset/blob/5f8a1cd42491210e7de629b6f8fc09b65e0cbe99/src/waymo_open_dataset/v2/perception/lidar.py#L99

I believe these only exist for pedestrian boxes.

Oh hmm I'm a little confused about your use case I think. I thought you needed to use the 2D bounding boxes, which were labeled for images only, and are...