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Waymo Open Dataset
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How to load 3D map data from 1.4.2 version Perception dataset? #731

Open vfishc opened 1 year ago

vfishc commented 1 year ago

Thanks for your great work! In the docs, 3D map data is provided in the 1.4.2 version Perception dataset, but how can I load it from tfrecord files? I've tried frames[i].map_features, but len(frames[i].map_features) is 0, I cannot get the map information.

Looking forward to your reply!!!

scott-ettinger commented 1 year ago

The map data should exist in the first Frame proto in each sequence. It only exists in the first frame as the map data is constant for all frames. The field will be empty for later frames. Could you check to see if this is the case in your setup?