Data preparation

Tri3D is capable to load most datasets without preprocessing, except for the ones mentioned on this page.

Waymo

Tri3d supports the Waymo dataset with parquet file format. However, its files must be re-encoded with better chunking and sorting parameters to allow faster data loading.

To optimize the sequences in a folder, a script is provided that can be used like so:

python -m tri3d.datasets.optimize_waymo \
    --input waymo_open_dataset_v_2_0_1/training \
    --output optimized_waymo/training \
    --workers 8

The resulting files in the output directory will contain the same data but sorted, chunked and compressed with better settings.