Pei Sun

You can do something similar as this https://github.com/waymo-research/waymo-open-dataset/blob/master/waymo_open_dataset/utils/box_utils.py#L153. We have code to build the rotation matrix here https://github.com/waymo-research/waymo-open-dataset/blob/master/waymo_open_dataset/utils/transform_utils.py#L26

@aabramovrepo that is for both 1st and 2nd return. If you want to re-compute, you can try [this function](https://github.com/waymo-research/waymo-open-dataset/blob/master/waymo_open_dataset/utils/box_utils.py#L73) Yes, we have reflectance (we call it intensity) value and elongation....

I somehow missed this question. @aabramovrepo We do not have such a function immediately available. It is simple, you can simply modify this https://github.com/waymo-research/waymo-open-dataset/blob/master/waymo_open_dataset/utils/frame_utils.py#L150 to gather intensity and elongation (or...

@ltskv They should be identical. 1. Yes, something like matmul(pose.transform[0:3, 0:3]), points) + pose.transform[0:3, 3] 2. no. The data should be sufficient. We produced the projection with the exactly same...

That looks correct me to. Do you think you can try one experiment? Replace all float with double or float64. DT_FLOAT with DT_DOUBLE ? I was using the c++ api...

@ltskv Thanks for trying it. I think the remaining "error" you are seeing is because of rounding error. What we provide in RangeImage.camera_projection_compressed are rounded integers (std::floor) while you are...

@ltskv Thanks for the analysis. I've taken another look and played on my own. I found that there is another source of rounding error when I construct the range image....

btw, do you see any obvious errors after projection?

@bilalsattar Will do. i do not think that blocks you from doing anything with it. A couple of pixels of error is very small as image is much denser than...

i have compiled it here https://pypi.org/project/waymo-open-dataset-tf-2-2-0/ to compile by yourself: Follow this: https://github.com/waymo-research/waymo-open-dataset/tree/master/pip_pkg_scripts the third_party has been added to the pip on master already. https://github.com/waymo-research/waymo-open-dataset/blob/master/pip_pkg_scripts/build_pip_pkg.sh#L56