waymo数据集下载

安装 pip。

我们建议您使用 pip 安装程序。您可以使用以下命令安装该程序：

sudo easy_install -U pip

安装 gsutil。

如需从 PyPI 安装 gsutil，请使用以下命令：

sudo pip install gsutil

下载数据集

gsutil -m cp -r "gs://waymo_open_dataset_v_1_3_0/" . 
ServiceException: 401 Anonymous caller does not have storage.objects.list access to the Google Cloud Storage bucket. CommandException: 1 file/object could not be transferred.

$ gsutil config
This command will create a boto config file at
C:\Users\Administrator\.boto containing your credentials, based on
your responses to the following questions.
Please navigate your browser to the following URL:
https://accounts.google.com/o/oauth2/auth?client_id=912341233072.apps.googleusercontent.com&redirect_uri=urn%3Aietf%3Awg%3Aoauth%3A2.0%3Aoob&scope=https%3A%2F%2Fwww.googleapis.com%2Fauth%2Fcloud-platform+https%3A%2F%2Fwww.googleapis.com%2Fauth%2Faccounts.reauth&access_type=offline&response_type=code
In your browser you should see a page that requests you to authorize access to Google Cloud Platform APIs and Services on your behalf. After you approve, an authorization code will be displayed.

Enter the authorization code: 4/1AX4XfWjTqe2CzuheTvIJ-Ibq123RHl7-kp2XygdJoXDz5BZbFjaCkLgflg   #这里需要访问上面的url,登录google账号查询authorization code

Please navigate your browser to https://cloud.google.com/console#/project,
then find the project you will use, and copy the Project ID string from the
second column. Older projects do not have Project ID strings. For such projects,
 click the project and then copy the Project Number listed under that project.

What is your project-id? quickstart-1123408928142 #这里需要建个项目查询project-id

gsutil developers rely on user feedback to make improvements to the
tool. Would you like to send anonymous usage statistics to help
improve gsutil? [y/N] y

Boto config file "C:\Users\Administrator\.boto" created. If you need
to use a proxy to access the Internet please see the instructions in
that file.

gsutil -m cp -r "gs://waymo_open_dataset_v_1_3_0/" . 

数据集解析

Note that only a subset of the frames have 3d semseg labels.

pip install tensorflow-gpu==2.6.0 -i https://pypi.tuna.tsinghua.edu.cn/simple
pip install waymo-open-dataset-tf-2-6-0==1.4.3 -i https://pypi.tuna.tsinghua.edu.cn/simple #注：version 1.4.3可以解析分割label。

数据集可视化及转.ply或.bin