scripts for waymo dataset

video with annotated labels: https://www.youtube.com/watch?v=YjOUamkRBRo

video with lidar projected labels: https://www.youtube.com/watch?v=ekizQEwPqew

prerequisites:

download and extract v_1_2 of waymo (with labels)
pip install waymo-open-dataset-tf-2-1-0==1.2.0

data extraction and visualization utils:

save_data.py: save images, ego-motion, lidar and labels (for both images and lidar)

visualization.py: creates merged sensor and label data for visualization

create_video.py: creates video using images created by visualization

Note:

Tracking IDS are not same across sensors in waymo data for same object.