File based header detection, collate_per_PC training.

vis/view.py

@@ -28,7 +28,7 @@ def view_points(points, colors=None):
     '''
     cloud = o3d.PointCloud()
     cloud.points = o3d.Vector3dVector(points) 
-
+    # frame = o3d.create_mesh_coordinate_frame(-1, -1, -1)
     if colors is not None:
         if isinstance(colors, np.ndarray):
             cloud.colors = o3d.Vector3dVector(colors)
@@ -37,6 +37,7 @@ def view_points(points, colors=None):
     o3d.draw_geometries([cloud])
 
 
+
 def label2color(labels):
     '''
     labels: np.ndarray with shape (n, )