Visualization of .ply or .npz

[HencyChen]

Thanks for providing such great code.
I have some questions about the generated .ply and .npz file after running inference.py

Based on my understanding, the inference.py script will generate a mesh colored by semantic segmentation (.ply) and a TSDF (.npz). However, I'm wondering how to produce the results of Fig.6 in the paper. Furthermore, Fig.6 seems to have no textures on the 3D model, is it possible to put the texture on it so that the results may seem like Fig.1 middle or left plots?

Thanks a lot!