How to process Waymo data

[hutslib]

hello, excellent work.
I wonder how you generate the Waymo test data.
Could you please kindly provide the data process scripts?

It appears that the reconstruction results obtained from my own processed Waymo data did not perform as well as the results I obtained from testing the data provided by you.

This is the Waymo results I got from the provided test data.

This is the reconstruction results from my own processed data.

Could you give me some hints to improve the performance?

[heiwang1997]

We also find this problem for some Waymo data actually. The reason is that there are noise in both LiDAR pose and the points themselves so you end up with a thick layer of points of road in some regions. We are working on techniques to resolve this problem. Please stay tuned thanks!!