RandLA-Net是点云分割网络,
自己整理了一下测试代码,可以可视化结果,但是没有分割的结果。
draw_pc换成新版本:
@staticmethod
def draw_pc(pc_xyzrgb):
pc =open3d.geometry.PointCloud()
# pc = open3d.PointCloud()
pc.points = open3d.utility.Vector3dVector(pc_xyzrgb[:, 0:3])
#pc.points = open3d.Vector3dVector(pc_xyzrgb[:, 0:3])
if pc_xyzrgb.shape[1] == 3:
open3d.draw_geometries([pc])
return 0
if np.max(pc_xyzrgb[:, 3:6]) > 20: ## 0-255
pc.colors = open3d.utility.Vector3dVector(pc_xyzrgb[:, 3:6] / 255.)
else:
pc.colors = open3d.utility.Vector3dVector(pc_xyzrgb[:, 3:6])
open3d.visualization.draw_geome