How to get detection boxes from detection_3d_vehicle_detection_train.bin?

[seoho-kang]

Hi, I'm doing 3D tracking and I wanted to get prediction_boxes form this file
detection_3d_vehicle_detection_train.bin

How can I get position and orientation, size of the boxes from the file?

[peisun1115]

It is the same format as our submission proto.

You can read it with:

f = open("you_file_path")
proto_str = f.read()
submission_proto = waymo_open_dataset.Submission()
CHECK(submission_proto.ParseFromString(proto_str))
// Then find boxes in submission_proto

[seoho-kang]

I quickly followed the snippet. It said waymo_open_dataset doesn't have Submission attribute. Do I have to use create_prediction_file_example.py ??? If not, can you please explain bit more?

[peisun1115]

it is waymo_open_dataset.protos.Submission.

[seoho-kang]

I get the 959522292 output.
submission_proto.ParseFromString(proto_str)
print(submission_proto)
#959522292

However, if I print inference_results I get empty list. I didn't understand what the pretrained object detection binary file exactly does. Do I have to import each frame(dataset = tf.data.TFRecordDataset(FILENAME, compression_type='')
) and then run the code you mentioned not to get empty array?

Or do you think it's the problem of compile??

[peisun1115]

@droneRL2020 I am sorry. It is actually of proto waymo_open_dataset.protos.Objects.

I've just tried it on my own and it worked.

[Nuri-benbarka]

it is waymo_open_dataset.protos.Submission.

@peisun1115 I am also trying to get the detections, and I ran the code you wrote above but in every case, it tells me:
AttributeError: module 'waymo_open_dataset.protos' has no attribute 'Objects'
AttributeError: module 'waymo_open_dataset.protos' has no attribute 'Submission'
what did I do wrong?

[bilalsattar]

Here is a code snippet to read boxes and other attributes

  from waymo_open_dataset.protos import metrics_pb2
  objects = metrics_pb2.Objects()

  f = open('detection_3d_vehicle_detection_validation.bin', 'rb')
  objects.ParseFromString(f.read())
  f.close()

  for object in objects.objects:
    type = __type_list[object.object.type]
    height = object.object.box.height
    width = object.object.box.width
    length = object.object.box.length
    score = object.score
    x = object.object.box.center_x
    y = object.object.box.center_y
    z = object.object.box.center_z
    rotation_z = object.object.box.heading
    beta = math.atan2(x, z)
    alpha = (rotation_z + beta - math.pi / 2) % (2 * math.pi)

[Nuri-benbarka]

it is waymo_open_dataset.protos.Submission.

@peisun1115 I am also trying to get the detections, and I ran the code you wrote above but in every case, it tells me:
AttributeError: module 'waymo_open_dataset.protos' has no attribute 'Objects'
AttributeError: module 'waymo_open_dataset.protos' has no attribute 'Submission'
what did I do wrong?

to solve my problem, I saw issue #35 then I ran the following commands:
protoc ./waymo_open_dataset/protos/metrics.proto --python_out=.
protoc ./waymo_open_dataset/protos/breakdown.proto --python_out=.
protoc ./waymo_open_dataset/protos/submission.proto --python_out=.

then I tried the code provided by @bilalsattar and it worked.

[jiangzhengkai]

@bilalsattar What's your meaning for rotation_y?

[bilalsattar]

Actually it is rotation along z-axis not along the y-axis (I have changed it). This is the heading direction of the vehicle or how much the bounding box is rotated along z.

[bilalsattar]

@peisun1115 can we call it yaw of the box?

[peisun1115]

yes, it is yaw.