How to export S3DIS xyz+rgb with instance labels

[BlueBell93]

Hello,
thank you for this great work!

I successfully ran an inference using the available checkpoints for the S3DIS dataset and obtained the instance masks.
My goal is to combine the original point cloud data (xyz coordinates and rgb values) with both semantic labels and instance labels, so I can save them in a single file.

However, my current attempts did not produce correct results - the labels don't seem to align correctly with the points. I used the original point cloud data from the S3DIS dataset, and also the preprocessed data.

Is there existing code in the repository that could help solve my problem? Or what is the correct way to align the predicted masks with the S3DIS point cloud?

Thanks for any help!