search

valeoai / rangevit

Apache License 2.0
74 stars 6 forks source link

Visualization of the results #8

Closed iuliaalda closed 4 days ago

iuliaalda commented 8 months ago

Hello, after the test run on nuScenes I obtained the acc/iou/recall values and the *_lidarseg.bin files, but I am not sure how I can visualize the predicted segmentations for the point clouds. Thank you!

gidariss commented 7 months ago

Hello. For the visualizations we used the CloudCompare (https://cloudcompare.org/). It requires to first save the point clouds with the predicted classes in a file.
CloudCompare reads files in various formats. The easiest is to write files (.xyz) with following structure: x0 y0 z0 a0 b0 c0 ... x1 y1 z1 a1 b1 c1 ... x2 y2 z2 a2 b2 c2 ... x3 y3 z3 a3 b3 c3 ... where xi yi zi are the coordinates of the points and the ai bi ci... are the scalar fields associated with the points (can be the label id).