How to visualize the detection results of the nuscenes dataset?

[MoyangSensei]

The output of the model is as follows.

I hope to visualize the results based on lidar bev.

Does opnepcdet or nuscenes-devkit provide similar functions? Or has anyone implemented this kind of visualization? And how can GT also be visualized according to the above process? Thank you!

[Petros626]

I think OpenPCDet supports only the visualization as 3D Scene with 3D bounding boxes (https://github.com/open-mmlab/OpenPCDet/blob/master/docs/DEMO.md) about the nuscenes-devkit you have to search for.

The image you showing uses 3D Bounding Box converted to 2D Bounding Boxes normalized to the used image size. It's no problem to visualize Gt boxes and predicted boxes, just see other repos which they did this job.