How can I visualize the result of inference.py from suctionnet-baseline?

I am getting following result after running suctionnet-baseline inference.py:

scene_0100/realsense/suction/0000.npz
scene_0100/realsense/visu/0000.png
scene_0100/realsense/visu/0000_sampled.png
scene_0100/realsense/suction/0001.npz

