sphereformer-ros

An ros implementation of SphereFormer

Step 1: construct a data organization consitant with SemanticKITTI

roscore
rosbag play [.bag filepath]
python pcd2bin_label_ros.py

Step 2: Run inference code

python test.py --config [semantic_kitti_unet32_spherical_transformer.yaml filepath]

Step 3: visualize the segmented result with open3d (optional)

python visulize.py

An example of the lidar segmentation result