Waymo Open Dataset Viewer

A WebGL viewer for pointclouds of the waymo open dataset that runs seamlessly in the browser with an integrated python server that processes and serves the dataset segments.

Prerequisites

Dataset

Before using the viewer, you first need to download (parts of) the dataset from the official download page. Create a directory containing the segments (.tfrecord files) you want to view.

Install tensorflow (2.0.0)

Consider using tensorflow-gpu since it will speed up reading the segments.

Install dependencies

Server dependencies:

pip install -r requirements.txt

Frontend dependecies:

yarn install

Usage

Start the websocket that processes and serves the segment files in a given directory:

python websocket.py --segments-dir path/to/segments

Build the frontend.

yarn build

Now, you can open the index.html file in the browser or call

yarn serve

to start a small python server on port 8000 that serves the html file.

Known Issues

If you had a GPU with a small RAM, misalignment between the LIDARs can happen. In this case, please try to run the websocket using CPU:

CUDA_VISIBLE_DEVICES="-1" python websocket.py --segments-dir path/to/segments