def point_label_to_obj(input_filename, out_filename, label_color=True, easy_view=False, no_wall=False):
    """ For visualization of a room from data_label file,
	input_filename: each line is X Y Z R G B L
	out_filename: OBJ filename,
            visualize input file by coloring point with label color
        easy_view: only visualize furnitures and floor
    """
    data_label = np.loadtxt(input_filename)
    data = data_label[:, 0:6]
    label = data_label[:, -1].astype(int)
    fout = open(out_filename, 'w')
    for i in range(data.shape[0]):
        color = g_label2color[label[i]]
        if easy_view and (label[i] not in g_easy_view_labels):
            continue
        if no_wall and ((label[i] == 2) or (label[i]==0)):
            continue
        if label_color:
            fout.write('v %f %f %f %d %d %d\n' % \
                (data[i,0], data[i,1], data[i,2], color[0], color[1], color[2]))
        else:
            fout.write('v %f %f %f %d %d %d\n' % \
                (data[i,0], data[i,1], data[i,2], data[i,3], data[i,4], data[i,5]))
    fout.close()
 For visualization of a room from data_label file,
	input_filename: each line is X Y Z R G B L
	out_filename: OBJ filename,
            visualize input file by coloring point with label color
        easy_view: only visualize furnitures and floor
    
data_utils/indoor3d_util.py