Waymo pytorch Dataloader

Pytorch dataloader for object detection tasks

• Quick attach to your kitti training files
• Has kitti format of calibration and label object
• Uses only top lidar and all 5 images
• Only serial dataloader Please feel free to send pull requests if you have any changes

Installation

git clone Waymo-pytorch-dataloader
git clone https://github.com/gdlg/simple-waymo-open-dataset-reader

or recursively download the subrepository like

git clone Waymo-pytorch-dataloader --recursive

Directly use the dataloader in your script like:

DATA_PATH = '/home/jupyter/waymo-od/waymo_dataset'
LOCATIONS = ['location_sf']

dataset = WaymoDataset(DATA_PATH, LOCATIONS, 'train', True, "new_waymo")

frame, idx = dataset.data, dataset.count
calib = dataset.get_calib(frame, idx)
pts =  dataset.get_lidar(frame, idx)
target = dataset.get_label(frame, idx)

License

This code is released under the Apache License, version 2.0. This projects incorporate some parts of the Waymo Open Dataset code (the files simple_waymo_open_dataset_reader/*.proto) and is licensed to you under their original license terms. See LICENSE file for details.