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Waymo Open Dataset
https://www.waymo.com/open
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Motion prediction: protos vs. tf.Examples #264

Open soldierofhell opened 3 years ago

soldierofhell commented 3 years ago

Hi, In the description of the dataset on https://waymo.com/open/data/motion/ it states:

Each tf.Example proto contains the same information as the Scenario protos described above, but all data has been converted to tensors.

But I can't find in tf.Example spec (https://waymo.com/open/data/motion/tfexample) for example speed_limit_mph or interpolating for lanes?

BTW

  1. What is the meaning of interpolating flag?
  2. Both fields are optional. Does it mean there's some default speed_limit if speed_limit_mph is missing? And same question for interpolating flag, should we assume interpolating = True or False?

Regards,

FrancescoMandru commented 3 years ago

Hey, does the tutorial for motion work for you? I found the documentation not well written

soldierofhell commented 3 years ago

In general, yes, it works. I find the documentation pretty comprehensive, but unfortunately seems like there's nobody here from Waymo to answer questions.

FrancescoMandru commented 3 years ago

Can you explain to me how did you set the environment to test the motion challenge and tutorial? I mean which steps did you follow from the beginning, really appreciate it, thanks

s-ettinger commented 3 years ago

Apologies for the late reply. You are correct that both the speed limit and interpolating lane features are not present in the tf.Example data. We will add the speed limit data in the next dataset update. The interpolating lane flag is an internal field that is not used in the public dataset. Sorry for the confusion.

Reichenbar commented 3 years ago

Can you give me some ideas about how to read the data which is stored as Scenario protocol buffers? I guess the tutorial is only valid for tf.example format. Thanks in advance.

scott-ettinger commented 2 years ago

Hi, please take a look at this thread. It has information about how to load Scenario protos: https://github.com/waymo-research/waymo-open-dataset/issues/343