How to visualize IDs & BEV output?

[CMSC740Student]

I am able to generate the output results_nusc.json

{
"sample_token": "3e8750f331d7499e9b5123e9eb70f2e2",
"translation": [
583.103064987875,
1656.6880139666296,
1.241505958639416
],
"size": [
1.9790806770324707,
4.687546253204346,
1.616770625114441
],
"rotation": [
0.9727001686273312,
0.011776099051307536,
0.029476512919616452,
-0.22988440710407923
],
"velocity": [
6.426273161159825,
-3.3635168953364154
],
"tracking_name": "car",
"attribute_name": "vehicle.moving",
"tracking_score": 0.9768641591072083,
"tracking_id": "3"
},

       How can I visualize this & get the bev output along with IDs?

[dsx0511]

Hi @CMSC740Student, the authors of MUTR3D provided a very nice visualization tool, which I have modified and used to generate the visualizations of our work. Here is a link (their original version): https://github.com/a1600012888/MUTR3D/blob/main/tools/nusc_visualizer.py.