How to get the point cloud of detected planes?

[LZleejean]

Hi,

The code output masks and plane parameters when evaluate NYU dataset. If I want to get point cloud data (xyz+rgb) from a plane such as the ground, do I need to calculate the point cloud based on the predicted plane parameters and depth map? Is there such a function or similar function in the code you provide?

Thank you！

[art-programmer]

If you want to write the point cloud to PLY files, you can check the code here,

planercnn/visualize_utils.py

Line 326 in 469f9bb

if write_ply:

Or if you only want to get the XYZ coordinates, you might want to use this function,

planercnn/models/modules.py

Line 198 in 469f9bb

def calcXYZModule(config, camera, detections, masks, depth_np, return_individual=False, debug_type=0):