realust visualization

[yangchandler]

Hi,thx for your resource code.
I have one question,
I used test_pretrain.py to get infer labels,but when I use SemanticKitti-API to visualize the labels, The visualization results are dark,as if the label does not correspond to the official color.Did you have a question like this?

[edwardzhou130]

I did not transfer the label back to the original label format which is used in semantic-kitti-api. So the label probably don't match with the colormap

PolarSeg/semantic-kitti.yaml

Lines 37 to 71 in 3f95ad6

	color_map: # bgr
	0 : [0, 0, 0]
	1 : [0, 0, 255]
	10: [245, 150, 100]
	11: [245, 230, 100]
	13: [250, 80, 100]
	15: [150, 60, 30]
	16: [255, 0, 0]
	18: [180, 30, 80]
	20: [255, 0, 0]
	30: [30, 30, 255]
	31: [200, 40, 255]
	32: [90, 30, 150]
	40: [255, 0, 255]
	44: [255, 150, 255]
	48: [75, 0, 75]
	49: [75, 0, 175]
	50: [0, 200, 255]
	51: [50, 120, 255]
	52: [0, 150, 255]
	60: [170, 255, 150]
	70: [0, 175, 0]
	71: [0, 60, 135]
	72: [80, 240, 150]
	80: [150, 240, 255]
	81: [0, 0, 255]
	99: [255, 255, 50]
	252: [245, 150, 100]
	256: [255, 0, 0]
	253: [200, 40, 255]
	254: [30, 30, 255]
	255: [90, 30, 150]
	257: [250, 80, 100]
	258: [180, 30, 80]
	259: [255, 0, 0]

You can use remap_semantic_labels.py(with --inverse) from semantic-kitti-api to do the inverse transferring.

[yangchandler]

My question has been solved. Thank you for your answer.