How to use 'visualization.py'

[AkinoriKotani]

Hello!! I'm sorry to ask you a lot of questions during your busy schedule. I have some questions about how to project LiDAR segmentation results onto a camera image.

1. Is it correct that the program that projects the LiDAR segmentation results onto RGB images uses visualization.py ?

2. If you are using visualization.py, how do you actually project them onto RGB images? It seems that it can be done by adding basedir, sequence, uncerts, and so on. And then, I think that it is possible to run it with $ python visualization.py, but it cannot be done well.

basedir = '~/SalsaNext/pred-valid'
sequence = '08'
uncerts = ' '
preds = 'predictions'
gt = ' '
img = '~/Dataset/KITTI/dataset/sequences/08/image_2/'
lidar = '~/Dataset/SemanticKITTI/dataset/sequences/08/'
projected_uncert = ' '
projected_preds = ' '

Each value is tentatively defined as above. and these blanks, I could not understand which path to specify. As a result of executing it for the time being, it became as follows.

$ python3 visualization.py
Ground truth poses are not avaialble for sequence 08.
Traceback (most recent call last):
  File "visualization.py", line 78, in <module>
    color_map_dict = yaml.safe_load(open("color_map.yml"))['color_map']
FileNotFoundError: [Errno 2] No such file or directory: 'color_map.yml'

• What are uncerts, gt, projented_uncert, and projected_preds ?
• What is color_map.yml ?
• Is it possible to project to RGB with Seq-08 ?

Thank you for your cooperation.