Open joonjeon opened 2 years ago
Hi,
Thanks for reporting this. We are currently investigating this issue. However, please note that the association between camera labels and lidar labels are only provided for Pedestrian currently (for supporting the Human Keypoint labels).
For 3D Camera-Only Detection challenge, please use frame.projected_lidar_labels
for correspondence between 2D/3D for all classes. The projected_lidar_label.id
is in the format of LidarId_CameraName
, for example: ABCED321_FRONT_LEFT
. Note that the projected lidar boxes won't be as tight as camera labels.
Best, Wayne, on behalf of the Waymo Open Dataset team
Hi!
Provided that I correctly understood from the prototxt definitions of Waymo (Perception) Dataset,
each of the 2D object labels within a camera image has its corresponding 3D object label in
laser_label.camera_synced_box
, and the corresponding 3D label can be accessed bylabel.association.laser_object_id
Currently, I am trying to
label.association.laser_object_id
values as key values,label.association.laser_object_id
of 2D label andlaser_label.id
of 3D label.However, the following error occurs:
Note that this is just one example, and such error seems to occur for many data frames in all TFrecord segments. The following is the output of 2D and 3D labels in one TFrecord segment of Waymo Dataset:
As can be seen above, some camera labels seem to have their
association.laser_object_id
values missing (including the ones abridged in "...
" marks), thereby causing the error.Is there something wrong when parsing the 2D/3D labels and matching them correctly? Or is this an issue with Waymo toolkit or dataset?
Thanks in advance.