Waymo Open Dataset (WOD) 可视化程序

1 运行环境

库	版本	备注
anaconda	3
python	3.7
tensorflow	2.4.0
waymo-open-dataset-tf-2-4-0
CUDA	11.0	不安装应该会使用CPU计算
cudnn	8.0	不安装应该会使用CPU计算
pyqt	5
Mayavi

1.1 安装环境

其他环境在此不再赘述，之将两个库的安装

1. 安装Mayavi

pip3 install mayavi -i https://pypi.tuna.tsinghua.edu.cn/simple

2. 安装pyqt5

pip3 install pyqt5 -i https://pypi.tuna.tsinghua.edu.cn/simple

不安装会报错，详情请参考这里

ImportError: Could not import backend for traitsui.  Make sure you
        have a suitable UI toolkit like PyQt/PySide or wxPython
        installed.

2 代码

代码来源酱油与清洛 ，笔者做一些补充，使用时直接复制进python脚本程序，然后将FILENAME后面的路径改为你自己的文件存放路径，python3 {程序名}.py运行即可。

# 作者：酱油与清洛 https://www.bilibili.com/read/cv6933475 出处：bilibili
# 修改：Leo

import os
import tensorflow.compat.v1 as tf
import math
import numpy as np
import itertools
import time

tf.enable_eager_execution()

from waymo_open_dataset.utils import range_image_utils
from waymo_open_dataset.utils import transform_utils
from waymo_open_dataset.utils import frame_utils
from waymo_open_dataset import dataset_pb2 as open_dataset

from mayavi import mlab

# 配置GPU显存自适应分配，防止占用所有显存
# set GPU memory to adaptively be allocated avoid all the memory being occupied
gpus = tf.config.list_physical_devices('GPU')
if gpus:
    try:
        for gpu in gpus:
            tf.config.experimental.set_memory_growth(gpu, True)
            print('info: following GPU is setted as memory_growth:')
            print(gpu)
    except RuntimeError as e:
        print(e)
else:
    print('info: there have no GPUs in this computer')

@mlab.animate(delay=100)
def updateAnimation():
	framenumber = 0
	FILENAME = '../waymo_open_dataset_v_1_3_2/validation/segment-272435602399417322_2884_130_2904_130_with_camera_labels.tfrecord'
	dataset = tf.data.TFRecordDataset(FILENAME, compression_type='')
	MAXPOINT = 200000
	for data in dataset:
		framenumber += 1
		print('Frame Number : {}'.format(framenumber))
		frame = open_dataset.Frame()
		frame.ParseFromString(bytearray(data.numpy()))

		(range_images, camera_projections, range_image_top_pose) = frame_utils.parse_range_image_and_camera_projection(frame)

		points, cp_points = frame_utils.convert_range_image_to_point_cloud(
			frame,
			range_images,
			camera_projections,
			range_image_top_pose)

		x = [0]*MAXPOINT
		y = [0]*MAXPOINT
		z = [0]*MAXPOINT
		for point in points:
			# print('len(point)=',len(point))
			for i in range(len(point)):
				x[i] = point[i][0]
				y[i] = point[i][1]
				z[i] = point[i][2]
			fig.mlab_source.set(x=x, y=y, z=z, mode="point")
		yield

MAXPOINT = 200000
fig = mlab.points3d(
	np.zeros(MAXPOINT), 
	np.zeros(MAXPOINT), 
	np.zeros(MAXPOINT),
	mode="point")
updateAnimation()
mlab.show() 

  上面的程序中添加了GPU显存设置，不添加会报错如下所示。当然，如果没有安装CUDA的话应该也不用添加，程序会直接使用CPU进行计算。

F tensorflow/core/util/cuda_solvers.cc:115] Check failed: cusolverDnCreate(&cusolver_dn_handle) == CUSOLVER_STATUS_SUCCESS Failed to create cuSolverDN instance.

视频效果展示看这里

3 注意事项

注意，如下图所示，一定要单击一下这里面的任意一个视图，才可以清楚的看到点云数据。