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Waymo Open Dataset
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It seems these tfrecords have no segmentation labels. len(frames_with_seg)==0. #584

Open xu19971109 opened 1 year ago

xu19971109 commented 1 year ago

image image

I can't read 2D segmentation labels from these tfrecords. if frame.images[0].camera_segmentation_label.panoptic_label: frames_with_seg.append(frame) All of them, len(frames_with_seg)==0. How can I fix them?

Here are all tfrecords which have no segmentation labesl: /training/segment-13402473631986525162_5700_000_5720_000_with_camera_labels.tfrecord /training/segment-8633296376655504176_514_000_534_000_with_camera_labels.tfrecord /training/segment-7000927478052605119_1052_330_1072_330_with_camera_labels.tfrecord /training/segment-10526338824408452410_5714_660_5734_660_with_camera_labels.tfrecord /training/segment-1940032764689855266_3690_210_3710_210_with_camera_labels.tfrecord /training/segment-5526948896847934178_1039_000_1059_000_with_camera_labels.tfrecord /training/segment-6303332643743862144_5600_000_5620_000_with_camera_labels.tfrecord /training/segment-384975055665199088_4480_000_4500_000_with_camera_labels.tfrecord /training/segment-4277109506993614243_1648_000_1668_000_with_camera_labels.tfrecord /training/segment-9295161125729168140_1270_000_1290_000_with_camera_labels.tfrecord /training/segment-2895681525868621979_480_000_500_000_with_camera_labels.tfrecord /training/segment-11070802577416161387_740_000_760_000_with_camera_labels.tfrecord /training/segment-8811210064692949185_3066_770_3086_770_with_camera_labels.tfrecord /training/segment-14734824171146590110_880_000_900_000_with_camera_labels.tfrecord /training/segment-13940755514149579648_821_157_841_157_with_camera_labels.tfrecord /training/segment-3872781118550194423_3654_670_3674_670_with_camera_labels.tfrecord /training/segment-3563349510410371738_7465_000_7485_000_with_camera_labels.tfrecord /training/segment-16093022852977039323_2981_100_3001_100_with_camera_labels.tfrecord /training/segment-9509506420470671704_4049_100_4069_100_with_camera_labels.tfrecord /training/segment-912496333665446669_1680_000_1700_000_with_camera_labels.tfrecord /training/segment-634378055350569306_280_000_300_000_with_camera_labels.tfrecord /training/segment-16511546224219511043_6226_000_6246_000_with_camera_labels.tfrecord /training/segment-4898453812993984151_199_000_219_000_with_camera_labels.tfrecord /training/segment-14818835630668820137_1780_000_1800_000_with_camera_labels.tfrecord /training/segment-3338044015505973232_1804_490_1824_490_with_camera_labels.tfrecord /training/segment-12856053589272984699_1020_000_1040_000_with_camera_labels.tfrecord /training/segment-3543045673995761051_460_000_480_000_with_camera_labels.tfrecord /training/segment-12956664801249730713_2840_000_2860_000_with_camera_labels.tfrecord /training/segment-18068531698704694137_920_000_940_000_with_camera_labels.tfrecord /training/segment-14004546003548947884_2331_861_2351_861_with_camera_labels.tfrecord /training/segment-12179768245749640056_5561_070_5581_070_with_camera_labels.tfrecord /training/segment-9311322119128915594_5285_000_5305_000_with_camera_labels.tfrecord /training/segment-11388947676680954806_5427_320_5447_320_with_camera_labels.tfrecord /training/segment-14193044537086402364_534_000_554_000_with_camera_labels.tfrecord 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xu19971109 commented 1 year ago

By the way, these are waymo v1.4.1 with 2D segmentation labels. v1.4.1, December 2022: Improved the quality of the 2D video panoptic segmentation labels

xu19971109 commented 1 year ago

And the segmentation labels have differences between adjacent frames. I render the classes with id 20,21,22; If I choose id=26, there is a image of the tree root soil is rendered. Like: e062ab7a-9c0a-4a31-96f9-dad7d325c6e6 17a7be5b-9be2-4a80-bfea-f94f92164cbf

alexzzhu commented 1 year ago

Re: your first question, we subsampled around 10,000 frames from 20 run segments from the validation set, so it's not surprising that many do not have any labels. Are you able to find any run segments with labels?

I'll have to get back to you re: your second question.

xu19971109 commented 1 year ago

Re: your first question, we subsampled around 10,000 frames from 20 run segments from the validation set, so it's not surprising that many do not have any labels. Are you able to find any run segments with labels?

I'll have to get back to you re: your second question.

Yes, the tfrecords I didn't list here have 2D-segmentation labels. The sum of training set and validation set is over 75,000 frames.

alexzzhu commented 1 year ago

Hi, following up on this conversation. In our recent release, we updated our existing Perception dataset. The newest labels in the Perception dataset v1.4.1 release provide improved quality for 2D segmentation labels to better aid the research community. These changes improved semantic segmentation temporal consistency, but focused on classes with instances, where inconsistencies had a larger impact on tracking metrics. As a result, some small inconsistencies may remain for non-instance’d classes, but should not significantly affect current semantic segmentation metrics, which are largely per frame.