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BEV和OCC学习-8:mmdet3d 3D分割demo测试

news 来源：原创 2025/6/14 13:40:25

3D 分割

在点云数据上测试 3D 分割器，运行：

python demo/pc_seg_demo.py ${PCD_FILE} ${CONFIG_FILE} ${CHECKPOINT_FILE} [--device ${GPU_ID}] [--out-dir ${OUT_DIR}] [--show]

可视化结果会被保存在 ${OUT_DIR}/PCD_NAME，其中包括点云以及预测的 3D 分割掩码。

在 ScanNet 数据上测试 PointNet++ (SSG) 模型：

python demo/pcd_seg_demo.py demo/data/scannet/scene0000_00.bin configs/pointnet2/pointnet2_ssg_2xb16-cosine-200e_scannet-seg.py ${CHECKPOINT_FILE} --show

模型下载：

 wget https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointnet2/pointnet2_ssg_16x2_cosine_200e_scannet_seg-3d-20class/pointnet2_ssg_16x2_cosine_200e_scannet_seg-3d-20class_20210514_143644-ee73704a.pth

测试：

python demo/pcd_seg_demo.py demo/data/scannet/scene0000_00.bin configs/pointnet2/pointnet2_ssg_2xb16-cosine-200e_scannet-seg.py ./checkpoints/pointnet2_ssg_16x2_cosine_200e_scannet_seg-3d-20class_20210514_143644-ee73704a.pth --show