[QUESTION] How to visualize json file data?

[adam-muk]

Hi,

What is the best tool to visualize the dsg.json file?

[nathanhhughes]

You can use this launch file to visualize a saved scene graph, which looks something like:

roslaunch hydra_ros hydra_visualizer.launch scene_graph_dir:=/path/to/scene/graph scene_graph:=dsg.json

for the path /path/to/scene/graph/dsg.json.

Alternatively, if you have the python bindings for Spark-DSG installed, you can call this function on a loaded scene graph to visualize in open3d. The open3d visualization is less fully featured than the ros/rviz based one that the launch file starts.