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VISUAL.md

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Visualization

Visualization tools are located in tools directory. To visualize dataset and the corresponding prediction, try to use viz_data.py script.

Taking NuScenes dataset as an example, the data to be visualized should be formatted as a .txt file, with each row being one of the objects:

obj. type obj. code score x y z l w h angle vx vy
str int float float float float float float float float float float

Steps

  1. put all prediction files in one single folder (e.g., second_pred)
  2. run the command with point cloud file as argument, with YOUR_PC_FILE_PATH as the path to pc file and YOUR_PRED_PATH is the path you specified in step 1:

python viz_data.py --cfg_file cfgs/viz_configs/nuscenes.yaml --data_path {YOUR_PC_FILE_PATH} --pred_path {YOUR_PRED_PATH}

This should give you the prediction with point cloud shown in a separate window as below:

plot