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README

The point_cloud_frames directory contains several point cloud frames in one tfrecord file. Those bin file are generated from MMDetection3D, and the point cloud file are kitti format.

Each point has 6 attributes, the first three are $(x,y,z)$, while the last 3 you should refer to related code in the MMDetection3D where the Waymo format data is transformed into the KITTI format.

The 0000024.bin is an example file for visualizing single point cloud frame.

Both the python script multi_frame and single_frame are based on Open3d.

You can run commands below to show help for visualizing single frame or a stream of frames:

python multi_frame.py -h
python single_frame.py -h