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What i did on top of the existing code:

Difference between versions / parameters:

-Image of Low-res point cloud with noise -Image of Low-res point cloud with noise

Some other very useful scripts:

IMPORTANT NOTES:

Waymo Open Dataset

The Waymo Open Dataset is comprised of high-resolution sensor data collected by Waymo self-driving cars in a wide variety of conditions. We’re releasing this dataset publicly to aid the research community in making advancements in machine perception and self-driving technology.

Website

To read more about the dataset and access it, please visit https://www.waymo.com/open.

Contents

This code repository contains:

Please refer to the Quick Start.

License

This code repository (excluding third_party) is licensed under the Apache License, Version 2.0. Code appearing in third_party is licensed under terms appearing therein.

The Waymo Open Dataset itself is licensed under separate terms. Please visit https://waymo.com/open/terms/ for details. Code located at third_party/camera is licensed under a BSD 3-clause copyright license + an additional limited patent license applicable only when the code is used to process data from the Waymo Open Dataset as authorized by and in compliance with the Waymo Dataset License Agreement for Non-Commercial Use. See third_party/camera for details.

Citation

@misc{sun2019scalability,
  title={Scalability in Perception for Autonomous Driving: Waymo Open Dataset},
  author={Pei Sun and Henrik Kretzschmar and Xerxes Dotiwalla and Aurelien Chouard and Vijaysai Patnaik and Paul Tsui and James Guo and Yin Zhou and Yuning Chai and Benjamin Caine and Vijay Vasudevan and Wei Han and Jiquan Ngiam and Hang Zhao and Aleksei Timofeev and Scott Ettinger and Maxim Krivokon and Amy Gao and Aditya Joshi and Yu Zhang and Jonathon Shlens and Zhifeng Chen and Dragomir Anguelov},
  year={2019},
  eprint={1912.04838},
  archivePrefix={arXiv},
  primaryClass={cs.CV}
}

Dataset Metadata

The following table is necessary for this dataset to be indexed by search engines such as <a href="https://g.co/datasetsearch">Google Dataset Search</a>.

<div itemscope itemtype="http://schema.org/Dataset"> <table> <tr> <th>property</th> <th>value</th> </tr> <tr> <td>name</td> <td><code itemprop="name">Waymo Open Dataset: An autonomous driving dataset</code></td> </tr> <tr> <td>alternateName</td> <td><code itemprop="alternateName">Waymo Open Dataset</code></td> </tr> <tr> <td>url</td> <td><code itemprop="url">https://github.com/waymo-research/waymo-open-dataset</code></td> </tr> <tr> <td>sameAs</td> <td><code itemprop="sameAs">https://github.com/waymo-research/waymo-open-dataset</code></td> </tr> <tr> <td>sameAs</td> <td><code itemprop="sameAs">https://www.waymo.com/open</code></td> </tr> <tr> <td>description</td> <td><code itemprop="description">The Waymo Open Dataset is comprised of high-resolution sensor data collected by Waymo self-driving cars in a wide variety of conditions. We’re releasing this dataset publicly to aid the research community in making advancements in machine perception and self-driving technology.</code></td> </tr> <tr> <td>provider</td> <td> <div itemscope itemtype="http://schema.org/Organization" itemprop="provider"> <table> <tr> <th>property</th> <th>value</th> </tr> <tr> <td>name</td> <td><code itemprop="name">Waymo</code></td> </tr> <tr> <td>sameAs</td> <td><code itemprop="sameAs">https://en.wikipedia.org/wiki/Waymo</code></td> </tr> </table> </div> </td> </tr> <tr> <td>license</td> <td> <div itemscope itemtype="http://schema.org/CreativeWork" itemprop="license"> <table> <tr> <th>property</th> <th>value</th> </tr> <tr> <td>name</td> <td><code itemprop="name">Waymo Dataset License Agreement for Non-Commercial Use (August 2019)</code></td> </tr> <tr> <td>url</td> <td><code itemprop="url">https://waymo.com/open/terms/</code></td> </tr> </table> </div> </td> </tr> </table> </div>