Add files using upload-large-folder tool

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0096.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8795c178763173600f5bebba616122d5115bb17ea60dcf248aca8834164e68d9
+size 784

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0123.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4039c388112791bbbb95b9294f04cfcb3f8fae1d96139185ab57537c98d9d28
+size 592

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0210.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:917fad625b0cee3672276ff4a86b10d1cabe86c04cd6f74982f383d03c04a679
+size 1184

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0292.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4868e0580d9cb3b659544b0b13a6f823a327bd630931a6b92fa05b01d1c46074
+size 1136

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0298.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae2c3e2e2af48b96818b2b08b2e31a62c055338e83037bcb13f036dcd5e7d91b
+size 1216

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0352.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6b32af0371e92045403dc71dc77c0c8439c783fd9b6d0751bb0bc53d331f691
+size 736

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0491.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5ec7e06c76e109bc1b9728b77a1cd692c8a3aabff8bf831c930bffddf86e0cb
+size 512

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0554.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c493f38b2df7d05d76b83a47fba8b1430b52717f9aff300e7113139420695cac
+size 768

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0596.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c7ec409a97a8840084da4e97c72b3af14ac34deda8e1ae26ae500d22455ac2
+size 672

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0666.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54038e352a038c040eb7a3b9ccd9cdf5a9574627b20e5d9bc36d29d521a500ec
+size 736

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0679.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d94acf185b3372125ebbee8d2aa0e6bc9b166e7e7db037976de7a34aed78146d
+size 1008

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0753.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:494f0123953e3f88fc5cf585020ae5969695701e78baaf29968c38a9855d99d7
+size 688

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0807.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c92ac37a8023043a582752669280dbe0d197ca030400f1bbe76f421684c45589
+size 736

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_0909.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f4e9ccd273f4682f4d70b4073d59691fb787308496bec4ad83f1562fdb92c0
+size 768

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1047.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1707a0716f74a59a819414b0bba55799e57ac963ee02c0e62106a017d1bf9d99
+size 800

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1070.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a60ebbf0aff5b68fa98aafa2e430ccbf867c5014db0906a17ef428f95f88feb8
+size 752

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1123.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc7e46436f41728cf8533ec4f2f31e57ee80be793e9a9a7c9789111fe306b754
+size 672

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1125.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ed577aa78a60e66f62091e392f4e87058540ba82c39498f5a99784ebc5a94ed
+size 592

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1131.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3160d471533b989b9d97f1e5339d3bd73088c8c1a98b65b55864fb6847a7c054
+size 544

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1160.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4121664d1afb0441c5ec182c03b259a820e029b38be85047f8f494e5ff191fe0
+size 848

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1168.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b32c2e2fa01a9cac92a2d722800bec3832074d96ea4d72cba42988dbf9ddb2e1
+size 816

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1296.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5317595519af0805a3a783183dcd91955db5eedc76e0411cf2f82b9815db79f
+size 704

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1394.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b5605248a7b99b31be0f6c8c4a5a2ce9dd19e3fe1de36d7a709c0c5ddca0f5c
+size 1104

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1509.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b08adb0b0f2588fb0ea47035b33df03bb263f13b4bea6a28c28338ecdfedad70
+size 432

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1614.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb9095f09908b094769f1582e2976e765864d652befa41d1dd4c036d1321fb32
+size 480

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1813.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2df37512921b09d507a715abdd4ba7aee785c1b898620d0e08762c519d1aaeb7
+size 560

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1837.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64355a5bc3e0ebe341126d0ac121ec6fdfa28ccce32be24f4f02989235d15947
+size 992

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_1915.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5304da06db3c9d5e86b464c5787a7bcb30223baa48e4116cbba26fb49416e930
+size 992

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_2021.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f9faebd7384d92e55886b9c7177f4825e6073ddf767c7e64dfa3fad5261c19d
+size 384

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_2443.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4814286c21d464670b10d0fa7f49950f69b04a72fdec04d78497ebd07790c9
+size 992

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_2469.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:380421bc199bde99cd0da950c4cd5a5b8d91dbfb135fd839e32a107702355447
+size 976

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_2541.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5db4144a247c024ce929193919f67aa2ba2c5b47bdafc1da71094f8eff52c3ee
+size 608

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_2683.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccad9c68e648e56983f776bde4b00ea4c3da0a0fcdf27b130e9235aabdd2870a
+size 1120

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_2700.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486927aae88efed762d0507c4bdff0d0be9e838f1e10268c89b8bb8eee506d6d
+size 1120

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_2727.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cc117e4f78723e9916df229e0a0947eb268ad3ca57d068d0f7939cbd5baa8bf
+size 1168

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_2937.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:206a5aee166834194df8299c398060bdaee26e9f3c3694395da90e7d69a568a0
+size 704

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_2956.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf9e6feafbf9a4233322ca9555b250bee9c7e81c0219c460657de1be40af02f4
+size 608

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_2987.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e67ea1fc8a19198eb189743acd6f1d98a4c9b4335f2116d57617cdfcf65cebd0
+size 960

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_3063.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf9a6aa64b0c07ade5b7ed02508c04a63a7d79eda243a4492523abc2b85d1212
+size 816

mcd_cluster_keypoints_ntu_day10_mcd_raw72/keypoints_cloud_3208.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca4c416731d66bb1f046b72c6082c74768a35d42ff566835b111de9e0af9bf5a
+size 400

mcd_cluster_preview_ntu_day01_first10/preview_meta.json

@@ -0,0 +1,130 @@
+{
+  "config": {
+    "label_mode": "semkitti",
+    "sequence": "ntu_day_01",
+    "dataset_root": "/home/data/CYD/data/MCD/Annotated_Lidar",
+    "num_frames": 10,
+    "label_source": "semkitti: learning_map 0\u201319, DBSCAN on compressed 1\u201319 (tgfz7.mcd_ntu_day01_day10_semkitti)",
+    "clustering": "TriGF generate_keypoints per-class DBSCAN",
+    "openploc_config_ref": "config/exps/tgfz7/mcd_ntu_day01_day10_semkitti.py",
+    "mcd_raw_label_names": null,
+    "eps": 1.5,
+    "min_samples": 20,
+    "denoise_method": "remove_radius_outlier",
+    "outlier_threshold": 20,
+    "outlier_radius": 0.5,
+    "label_map_cluster_ids": {
+      "1": 0,
+      "2": 1,
+      "3": 2,
+      "4": 3,
+      "5": 4,
+      "6": 5,
+      "7": 6,
+      "8": 7,
+      "9": 8,
+      "10": 9,
+      "11": 10,
+      "12": 11,
+      "13": 12,
+      "14": 13,
+      "15": 14,
+      "16": 15,
+      "17": 16,
+      "18": 17,
+      "19": 18
+    }
+  },
+  "frames": [
+    {
+      "dataset_index": 0,
+      "timestamp_scan_num": 11,
+      "n_keypoints": 15,
+      "kp_shape": [
+        15,
+        4
+      ]
+    },
+    {
+      "dataset_index": 1,
+      "timestamp_scan_num": 12,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 2,
+      "timestamp_scan_num": 13,
+      "n_keypoints": 14,
+      "kp_shape": [
+        14,
+        4
+      ]
+    },
+    {
+      "dataset_index": 3,
+      "timestamp_scan_num": 14,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 4,
+      "timestamp_scan_num": 15,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5,
+      "timestamp_scan_num": 16,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6,
+      "timestamp_scan_num": 17,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 7,
+      "timestamp_scan_num": 18,
+      "n_keypoints": 18,
+      "kp_shape": [
+        18,
+        4
+      ]
+    },
+    {
+      "dataset_index": 8,
+      "timestamp_scan_num": 19,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 9,
+      "timestamp_scan_num": 20,
+      "n_keypoints": 14,
+      "kp_shape": [
+        14,
+        4
+      ]
+    }
+  ]
+}

mcd_cluster_preview_ntu_day01_first10/preview_summary.txt

@@ -0,0 +1,19 @@
+MCD keypoint clustering preview
+label_mode=semkitti
+sequence=ntu_day_01  first_10_frames
+out_dir=/home/data/CYD/data/MCD/mcd_cluster_preview_ntu_day01_first10
+
+semkitti: learning_map 0–19, DBSCAN on compressed 1–19 (tgfz7.mcd_ntu_day01_day10_semkitti)
+Clustering: per-class DBSCAN; hyperparams = mcd_ntu_day01_day10_semkitti.py.
+
+Per-frame:
+  cloud_0011: n_keypoints=15
+  cloud_0012: n_keypoints=12
+  cloud_0013: n_keypoints=14
+  cloud_0014: n_keypoints=13
+  cloud_0015: n_keypoints=13
+  cloud_0016: n_keypoints=13
+  cloud_0017: n_keypoints=12
+  cloud_0018: n_keypoints=18
+  cloud_0019: n_keypoints=13
+  cloud_0020: n_keypoints=14

mcd_cluster_preview_ntu_day01_first10/vis/index.html

@@ -0,0 +1,23 @@
+<html><body><h2>MCD cluster preview</h2>
+<p>/home/data/CYD/data/MCD/mcd_cluster_preview_ntu_day01_first10</p><ul>
+<li><img src="preview_cloud_0011_bev.png" style="max-width:1200px"/><br/>preview_cloud_0011_bev.png</li>
+<li><img src="preview_cloud_0011_xz.png" style="max-width:1200px"/><br/>preview_cloud_0011_xz.png</li>
+<li><img src="preview_cloud_0012_bev.png" style="max-width:1200px"/><br/>preview_cloud_0012_bev.png</li>
+<li><img src="preview_cloud_0012_xz.png" style="max-width:1200px"/><br/>preview_cloud_0012_xz.png</li>
+<li><img src="preview_cloud_0013_bev.png" style="max-width:1200px"/><br/>preview_cloud_0013_bev.png</li>
+<li><img src="preview_cloud_0013_xz.png" style="max-width:1200px"/><br/>preview_cloud_0013_xz.png</li>
+<li><img src="preview_cloud_0014_bev.png" style="max-width:1200px"/><br/>preview_cloud_0014_bev.png</li>
+<li><img src="preview_cloud_0014_xz.png" style="max-width:1200px"/><br/>preview_cloud_0014_xz.png</li>
+<li><img src="preview_cloud_0015_bev.png" style="max-width:1200px"/><br/>preview_cloud_0015_bev.png</li>
+<li><img src="preview_cloud_0015_xz.png" style="max-width:1200px"/><br/>preview_cloud_0015_xz.png</li>
+<li><img src="preview_cloud_0016_bev.png" style="max-width:1200px"/><br/>preview_cloud_0016_bev.png</li>
+<li><img src="preview_cloud_0016_xz.png" style="max-width:1200px"/><br/>preview_cloud_0016_xz.png</li>
+<li><img src="preview_cloud_0017_bev.png" style="max-width:1200px"/><br/>preview_cloud_0017_bev.png</li>
+<li><img src="preview_cloud_0017_xz.png" style="max-width:1200px"/><br/>preview_cloud_0017_xz.png</li>
+<li><img src="preview_cloud_0018_bev.png" style="max-width:1200px"/><br/>preview_cloud_0018_bev.png</li>
+<li><img src="preview_cloud_0018_xz.png" style="max-width:1200px"/><br/>preview_cloud_0018_xz.png</li>
+<li><img src="preview_cloud_0019_bev.png" style="max-width:1200px"/><br/>preview_cloud_0019_bev.png</li>
+<li><img src="preview_cloud_0019_xz.png" style="max-width:1200px"/><br/>preview_cloud_0019_xz.png</li>
+<li><img src="preview_cloud_0020_bev.png" style="max-width:1200px"/><br/>preview_cloud_0020_bev.png</li>
+<li><img src="preview_cloud_0020_xz.png" style="max-width:1200px"/><br/>preview_cloud_0020_xz.png</li>
+</ul></body></html>

mcd_cluster_preview_ntu_day01_first10_raw/preview_meta.json

@@ -0,0 +1,170 @@
+{
+  "config": {
+    "label_mode": "raw",
+    "sequence": "ntu_day_01",
+    "dataset_root": "/home/data/CYD/data/MCD/Annotated_Lidar",
+    "num_frames": 10,
+    "label_source": "raw: MCD native 0\u201328 from label .npy, no learning_map; keypoint[:,3] type index == raw class id (0..28)",
+    "clustering": "TriGF generate_keypoints per-class DBSCAN",
+    "openploc_config_ref": null,
+    "mcd_raw_label_names": {
+      "0": "barrier",
+      "1": "bike",
+      "2": "building",
+      "3": "chair",
+      "4": "cliff",
+      "5": "container",
+      "6": "curb",
+      "7": "fence",
+      "8": "hydrant",
+      "9": "infosign",
+      "10": "lanemarking",
+      "11": "noise",
+      "12": "other",
+      "13": "parkinglot",
+      "14": "pedestrian",
+      "15": "pole",
+      "16": "road",
+      "17": "shelter",
+      "18": "sidewalk",
+      "19": "stairs",
+      "20": "structure-other",
+      "21": "traffic-cone",
+      "22": "traffic-sign",
+      "23": "trashbin",
+      "24": "treetrunk",
+      "25": "vegetation",
+      "26": "vehicle-dynamic",
+      "27": "vehicle-other",
+      "28": "vehicle-static"
+    },
+    "eps": 1.5,
+    "min_samples": 20,
+    "denoise_method": "remove_radius_outlier",
+    "outlier_threshold": 20,
+    "outlier_radius": 0.5,
+    "label_map_cluster_ids": {
+      "0": 0,
+      "1": 1,
+      "2": 2,
+      "3": 3,
+      "4": 4,
+      "5": 5,
+      "6": 6,
+      "7": 7,
+      "8": 8,
+      "9": 9,
+      "10": 10,
+      "11": 11,
+      "12": 12,
+      "13": 13,
+      "14": 14,
+      "15": 15,
+      "16": 16,
+      "17": 17,
+      "18": 18,
+      "19": 19,
+      "20": 20,
+      "21": 21,
+      "22": 22,
+      "23": 23,
+      "24": 24,
+      "25": 25,
+      "26": 26,
+      "27": 27,
+      "28": 28
+    }
+  },
+  "frames": [
+    {
+      "dataset_index": 0,
+      "timestamp_scan_num": 11,
+      "n_keypoints": 16,
+      "kp_shape": [
+        16,
+        4
+      ]
+    },
+    {
+      "dataset_index": 1,
+      "timestamp_scan_num": 12,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 2,
+      "timestamp_scan_num": 13,
+      "n_keypoints": 15,
+      "kp_shape": [
+        15,
+        4
+      ]
+    },
+    {
+      "dataset_index": 3,
+      "timestamp_scan_num": 14,
+      "n_keypoints": 14,
+      "kp_shape": [
+        14,
+        4
+      ]
+    },
+    {
+      "dataset_index": 4,
+      "timestamp_scan_num": 15,
+      "n_keypoints": 14,
+      "kp_shape": [
+        14,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5,
+      "timestamp_scan_num": 16,
+      "n_keypoints": 14,
+      "kp_shape": [
+        14,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6,
+      "timestamp_scan_num": 17,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 7,
+      "timestamp_scan_num": 18,
+      "n_keypoints": 19,
+      "kp_shape": [
+        19,
+        4
+      ]
+    },
+    {
+      "dataset_index": 8,
+      "timestamp_scan_num": 19,
+      "n_keypoints": 14,
+      "kp_shape": [
+        14,
+        4
+      ]
+    },
+    {
+      "dataset_index": 9,
+      "timestamp_scan_num": 20,
+      "n_keypoints": 15,
+      "kp_shape": [
+        15,
+        4
+      ]
+    }
+  ]
+}

mcd_cluster_preview_ntu_day01_first10_raw/preview_summary.txt

@@ -0,0 +1,19 @@
+MCD keypoint clustering preview
+label_mode=raw
+sequence=ntu_day_01  first_10_frames
+out_dir=/home/data/CYD/data/MCD/mcd_cluster_preview_ntu_day01_first10_raw
+
+raw: MCD native 0–28 from label .npy, no learning_map; keypoint[:,3] type index == raw class id (0..28)
+Clustering: per-class DBSCAN; hyperparams = mcd_ntu_day01_day10_semkitti.py.
+
+Per-frame:
+  cloud_0011: n_keypoints=16
+  cloud_0012: n_keypoints=13
+  cloud_0013: n_keypoints=15
+  cloud_0014: n_keypoints=14
+  cloud_0015: n_keypoints=14
+  cloud_0016: n_keypoints=14
+  cloud_0017: n_keypoints=13
+  cloud_0018: n_keypoints=19
+  cloud_0019: n_keypoints=14
+  cloud_0020: n_keypoints=15

mcd_cluster_preview_ntu_day01_first10_raw/vis/index.html

@@ -0,0 +1,23 @@
+<html><body><h2>MCD cluster preview</h2>
+<p>/home/data/CYD/data/MCD/mcd_cluster_preview_ntu_day01_first10_raw</p><ul>
+<li><img src="preview_cloud_0011_bev.png" style="max-width:1200px"/><br/>preview_cloud_0011_bev.png</li>
+<li><img src="preview_cloud_0011_xz.png" style="max-width:1200px"/><br/>preview_cloud_0011_xz.png</li>
+<li><img src="preview_cloud_0012_bev.png" style="max-width:1200px"/><br/>preview_cloud_0012_bev.png</li>
+<li><img src="preview_cloud_0012_xz.png" style="max-width:1200px"/><br/>preview_cloud_0012_xz.png</li>
+<li><img src="preview_cloud_0013_bev.png" style="max-width:1200px"/><br/>preview_cloud_0013_bev.png</li>
+<li><img src="preview_cloud_0013_xz.png" style="max-width:1200px"/><br/>preview_cloud_0013_xz.png</li>
+<li><img src="preview_cloud_0014_bev.png" style="max-width:1200px"/><br/>preview_cloud_0014_bev.png</li>
+<li><img src="preview_cloud_0014_xz.png" style="max-width:1200px"/><br/>preview_cloud_0014_xz.png</li>
+<li><img src="preview_cloud_0015_bev.png" style="max-width:1200px"/><br/>preview_cloud_0015_bev.png</li>
+<li><img src="preview_cloud_0015_xz.png" style="max-width:1200px"/><br/>preview_cloud_0015_xz.png</li>
+<li><img src="preview_cloud_0016_bev.png" style="max-width:1200px"/><br/>preview_cloud_0016_bev.png</li>
+<li><img src="preview_cloud_0016_xz.png" style="max-width:1200px"/><br/>preview_cloud_0016_xz.png</li>
+<li><img src="preview_cloud_0017_bev.png" style="max-width:1200px"/><br/>preview_cloud_0017_bev.png</li>
+<li><img src="preview_cloud_0017_xz.png" style="max-width:1200px"/><br/>preview_cloud_0017_xz.png</li>
+<li><img src="preview_cloud_0018_bev.png" style="max-width:1200px"/><br/>preview_cloud_0018_bev.png</li>
+<li><img src="preview_cloud_0018_xz.png" style="max-width:1200px"/><br/>preview_cloud_0018_xz.png</li>
+<li><img src="preview_cloud_0019_bev.png" style="max-width:1200px"/><br/>preview_cloud_0019_bev.png</li>
+<li><img src="preview_cloud_0019_xz.png" style="max-width:1200px"/><br/>preview_cloud_0019_xz.png</li>
+<li><img src="preview_cloud_0020_bev.png" style="max-width:1200px"/><br/>preview_cloud_0020_bev.png</li>
+<li><img src="preview_cloud_0020_xz.png" style="max-width:1200px"/><br/>preview_cloud_0020_xz.png</li>
+</ul></body></html>

mcd_cluster_preview_ntu_day01_sgpr100/preview_meta.json

@@ -0,0 +1,1018 @@
+{
+  "config": {
+    "label_mode": "semkitti",
+    "cluster_preset": "sgpr_sk",
+    "sequence": "ntu_day_01",
+    "dataset_root": "/home/data/CYD/data/MCD/Annotated_Lidar",
+    "num_frames": 100,
+    "label_source": "SGPR eps from get_cluster_config; min_samples=30 (pole/trunk/sign 16,18,19 -> 10); ref methods/sgpr/__init__.py",
+    "clustering": "TriGF generate_keypoints per-class DBSCAN",
+    "openploc_config_ref": "methods/sgpr/__init__.py get_cluster_config",
+    "eps_default": 0.2,
+    "min_samples_default": 30,
+    "denoise_method": "none",
+    "outlier_threshold": 20,
+    "outlier_radius": 0.5,
+    "sgpr_per_class_label_params": {
+      "1": {
+        "eps": 0.5,
+        "min_samples": 30
+      },
+      "2": {
+        "eps": 0.2,
+        "min_samples": 30
+      },
+      "3": {
+        "eps": 0.2,
+        "min_samples": 30
+      },
+      "4": {
+        "eps": 0.5,
+        "min_samples": 30
+      },
+      "5": {
+        "eps": 0.5,
+        "min_samples": 30
+      },
+      "6": {
+        "eps": 0.2,
+        "min_samples": 30
+      },
+      "7": {
+        "eps": 0.2,
+        "min_samples": 30
+      },
+      "8": {
+        "eps": 0.2,
+        "min_samples": 30
+      },
+      "9": {
+        "eps": 0.2,
+        "min_samples": 30
+      },
+      "10": {
+        "eps": 0.2,
+        "min_samples": 30
+      },
+      "11": {
+        "eps": 2.0,
+        "min_samples": 30
+      },
+      "12": {
+        "eps": 2.0,
+        "min_samples": 30
+      },
+      "13": {
+        "eps": 2.0,
+        "min_samples": 30
+      },
+      "14": {
+        "eps": 0.5,
+        "min_samples": 30
+      },
+      "15": {
+        "eps": 2.0,
+        "min_samples": 30
+      },
+      "16": {
+        "eps": 0.2,
+        "min_samples": 10
+      },
+      "17": {
+        "eps": 2.0,
+        "min_samples": 30
+      },
+      "18": {
+        "eps": 0.2,
+        "min_samples": 10
+      },
+      "19": {
+        "eps": 0.2,
+        "min_samples": 10
+      }
+    },
+    "label_map_cluster_ids": {
+      "1": 0,
+      "2": 1,
+      "3": 2,
+      "4": 3,
+      "5": 4,
+      "6": 5,
+      "7": 6,
+      "8": 7,
+      "9": 8,
+      "10": 9,
+      "11": 10,
+      "12": 11,
+      "13": 12,
+      "14": 13,
+      "15": 14,
+      "16": 15,
+      "17": 16,
+      "18": 17,
+      "19": 18
+    }
+  },
+  "frames": [
+    {
+      "dataset_index": 0,
+      "timestamp_scan_num": 11,
+      "n_keypoints": 24,
+      "kp_shape": [
+        24,
+        4
+      ]
+    },
+    {
+      "dataset_index": 1,
+      "timestamp_scan_num": 12,
+      "n_keypoints": 22,
+      "kp_shape": [
+        22,
+        4
+      ]
+    },
+    {
+      "dataset_index": 2,
+      "timestamp_scan_num": 13,
+      "n_keypoints": 23,
+      "kp_shape": [
+        23,
+        4
+      ]
+    },
+    {
+      "dataset_index": 3,
+      "timestamp_scan_num": 14,
+      "n_keypoints": 29,
+      "kp_shape": [
+        29,
+        4
+      ]
+    },
+    {
+      "dataset_index": 4,
+      "timestamp_scan_num": 15,
+      "n_keypoints": 19,
+      "kp_shape": [
+        19,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5,
+      "timestamp_scan_num": 16,
+      "n_keypoints": 24,
+      "kp_shape": [
+        24,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6,
+      "timestamp_scan_num": 17,
+      "n_keypoints": 23,
+      "kp_shape": [
+        23,
+        4
+      ]
+    },
+    {
+      "dataset_index": 7,
+      "timestamp_scan_num": 18,
+      "n_keypoints": 20,
+      "kp_shape": [
+        20,
+        4
+      ]
+    },
+    {
+      "dataset_index": 8,
+      "timestamp_scan_num": 19,
+      "n_keypoints": 26,
+      "kp_shape": [
+        26,
+        4
+      ]
+    },
+    {
+      "dataset_index": 9,
+      "timestamp_scan_num": 20,
+      "n_keypoints": 20,
+      "kp_shape": [
+        20,
+        4
+      ]
+    },
+    {
+      "dataset_index": 10,
+      "timestamp_scan_num": 21,
+      "n_keypoints": 26,
+      "kp_shape": [
+        26,
+        4
+      ]
+    },
+    {
+      "dataset_index": 11,
+      "timestamp_scan_num": 22,
+      "n_keypoints": 23,
+      "kp_shape": [
+        23,
+        4
+      ]
+    },
+    {
+      "dataset_index": 12,
+      "timestamp_scan_num": 23,
+      "n_keypoints": 19,
+      "kp_shape": [
+        19,
+        4
+      ]
+    },
+    {
+      "dataset_index": 13,
+      "timestamp_scan_num": 24,
+      "n_keypoints": 24,
+      "kp_shape": [
+        24,
+        4
+      ]
+    },
+    {
+      "dataset_index": 14,
+      "timestamp_scan_num": 25,
+      "n_keypoints": 27,
+      "kp_shape": [
+        27,
+        4
+      ]
+    },
+    {
+      "dataset_index": 15,
+      "timestamp_scan_num": 26,
+      "n_keypoints": 27,
+      "kp_shape": [
+        27,
+        4
+      ]
+    },
+    {
+      "dataset_index": 16,
+      "timestamp_scan_num": 27,
+      "n_keypoints": 23,
+      "kp_shape": [
+        23,
+        4
+      ]
+    },
+    {
+      "dataset_index": 17,
+      "timestamp_scan_num": 28,
+      "n_keypoints": 22,
+      "kp_shape": [
+        22,
+        4
+      ]
+    },
+    {
+      "dataset_index": 18,
+      "timestamp_scan_num": 29,
+      "n_keypoints": 27,
+      "kp_shape": [
+        27,
+        4
+      ]
+    },
+    {
+      "dataset_index": 19,
+      "timestamp_scan_num": 30,
+      "n_keypoints": 19,
+      "kp_shape": [
+        19,
+        4
+      ]
+    },
+    {
+      "dataset_index": 20,
+      "timestamp_scan_num": 31,
+      "n_keypoints": 24,
+      "kp_shape": [
+        24,
+        4
+      ]
+    },
+    {
+      "dataset_index": 21,
+      "timestamp_scan_num": 32,
+      "n_keypoints": 23,
+      "kp_shape": [
+        23,
+        4
+      ]
+    },
+    {
+      "dataset_index": 22,
+      "timestamp_scan_num": 33,
+      "n_keypoints": 25,
+      "kp_shape": [
+        25,
+        4
+      ]
+    },
+    {
+      "dataset_index": 23,
+      "timestamp_scan_num": 34,
+      "n_keypoints": 26,
+      "kp_shape": [
+        26,
+        4
+      ]
+    },
+    {
+      "dataset_index": 24,
+      "timestamp_scan_num": 35,
+      "n_keypoints": 22,
+      "kp_shape": [
+        22,
+        4
+      ]
+    },
+    {
+      "dataset_index": 25,
+      "timestamp_scan_num": 36,
+      "n_keypoints": 21,
+      "kp_shape": [
+        21,
+        4
+      ]
+    },
+    {
+      "dataset_index": 26,
+      "timestamp_scan_num": 37,
+      "n_keypoints": 29,
+      "kp_shape": [
+        29,
+        4
+      ]
+    },
+    {
+      "dataset_index": 27,
+      "timestamp_scan_num": 38,
+      "n_keypoints": 26,
+      "kp_shape": [
+        26,
+        4
+      ]
+    },
+    {
+      "dataset_index": 28,
+      "timestamp_scan_num": 39,
+      "n_keypoints": 23,
+      "kp_shape": [
+        23,
+        4
+      ]
+    },
+    {
+      "dataset_index": 29,
+      "timestamp_scan_num": 40,
+      "n_keypoints": 24,
+      "kp_shape": [
+        24,
+        4
+      ]
+    },
+    {
+      "dataset_index": 30,
+      "timestamp_scan_num": 41,
+      "n_keypoints": 22,
+      "kp_shape": [
+        22,
+        4
+      ]
+    },
+    {
+      "dataset_index": 31,
+      "timestamp_scan_num": 42,
+      "n_keypoints": 25,
+      "kp_shape": [
+        25,
+        4
+      ]
+    },
+    {
+      "dataset_index": 32,
+      "timestamp_scan_num": 43,
+      "n_keypoints": 23,
+      "kp_shape": [
+        23,
+        4
+      ]
+    },
+    {
+      "dataset_index": 33,
+      "timestamp_scan_num": 44,
+      "n_keypoints": 24,
+      "kp_shape": [
+        24,
+        4
+      ]
+    },
+    {
+      "dataset_index": 34,
+      "timestamp_scan_num": 45,
+      "n_keypoints": 26,
+      "kp_shape": [
+        26,
+        4
+      ]
+    },
+    {
+      "dataset_index": 35,
+      "timestamp_scan_num": 46,
+      "n_keypoints": 23,
+      "kp_shape": [
+        23,
+        4
+      ]
+    },
+    {
+      "dataset_index": 36,
+      "timestamp_scan_num": 47,
+      "n_keypoints": 22,
+      "kp_shape": [
+        22,
+        4
+      ]
+    },
+    {
+      "dataset_index": 37,
+      "timestamp_scan_num": 48,
+      "n_keypoints": 28,
+      "kp_shape": [
+        28,
+        4
+      ]
+    },
+    {
+      "dataset_index": 38,
+      "timestamp_scan_num": 49,
+      "n_keypoints": 26,
+      "kp_shape": [
+        26,
+        4
+      ]
+    },
+    {
+      "dataset_index": 39,
+      "timestamp_scan_num": 50,
+      "n_keypoints": 28,
+      "kp_shape": [
+        28,
+        4
+      ]
+    },
+    {
+      "dataset_index": 40,
+      "timestamp_scan_num": 51,
+      "n_keypoints": 28,
+      "kp_shape": [
+        28,
+        4
+      ]
+    },
+    {
+      "dataset_index": 41,
+      "timestamp_scan_num": 52,
+      "n_keypoints": 28,
+      "kp_shape": [
+        28,
+        4
+      ]
+    },
+    {
+      "dataset_index": 42,
+      "timestamp_scan_num": 53,
+      "n_keypoints": 32,
+      "kp_shape": [
+        32,
+        4
+      ]
+    },
+    {
+      "dataset_index": 43,
+      "timestamp_scan_num": 54,
+      "n_keypoints": 28,
+      "kp_shape": [
+        28,
+        4
+      ]
+    },
+    {
+      "dataset_index": 44,
+      "timestamp_scan_num": 55,
+      "n_keypoints": 25,
+      "kp_shape": [
+        25,
+        4
+      ]
+    },
+    {
+      "dataset_index": 45,
+      "timestamp_scan_num": 56,
+      "n_keypoints": 28,
+      "kp_shape": [
+        28,
+        4
+      ]
+    },
+    {
+      "dataset_index": 46,
+      "timestamp_scan_num": 57,
+      "n_keypoints": 29,
+      "kp_shape": [
+        29,
+        4
+      ]
+    },
+    {
+      "dataset_index": 47,
+      "timestamp_scan_num": 58,
+      "n_keypoints": 38,
+      "kp_shape": [
+        38,
+        4
+      ]
+    },
+    {
+      "dataset_index": 48,
+      "timestamp_scan_num": 59,
+      "n_keypoints": 31,
+      "kp_shape": [
+        31,
+        4
+      ]
+    },
+    {
+      "dataset_index": 49,
+      "timestamp_scan_num": 60,
+      "n_keypoints": 36,
+      "kp_shape": [
+        36,
+        4
+      ]
+    },
+    {
+      "dataset_index": 50,
+      "timestamp_scan_num": 61,
+      "n_keypoints": 31,
+      "kp_shape": [
+        31,
+        4
+      ]
+    },
+    {
+      "dataset_index": 51,
+      "timestamp_scan_num": 62,
+      "n_keypoints": 21,
+      "kp_shape": [
+        21,
+        4
+      ]
+    },
+    {
+      "dataset_index": 52,
+      "timestamp_scan_num": 63,
+      "n_keypoints": 27,
+      "kp_shape": [
+        27,
+        4
+      ]
+    },
+    {
+      "dataset_index": 53,
+      "timestamp_scan_num": 64,
+      "n_keypoints": 25,
+      "kp_shape": [
+        25,
+        4
+      ]
+    },
+    {
+      "dataset_index": 54,
+      "timestamp_scan_num": 65,
+      "n_keypoints": 25,
+      "kp_shape": [
+        25,
+        4
+      ]
+    },
+    {
+      "dataset_index": 55,
+      "timestamp_scan_num": 66,
+      "n_keypoints": 24,
+      "kp_shape": [
+        24,
+        4
+      ]
+    },
+    {
+      "dataset_index": 56,
+      "timestamp_scan_num": 67,
+      "n_keypoints": 22,
+      "kp_shape": [
+        22,
+        4
+      ]
+    },
+    {
+      "dataset_index": 57,
+      "timestamp_scan_num": 68,
+      "n_keypoints": 25,
+      "kp_shape": [
+        25,
+        4
+      ]
+    },
+    {
+      "dataset_index": 58,
+      "timestamp_scan_num": 69,
+      "n_keypoints": 18,
+      "kp_shape": [
+        18,
+        4
+      ]
+    },
+    {
+      "dataset_index": 59,
+      "timestamp_scan_num": 70,
+      "n_keypoints": 18,
+      "kp_shape": [
+        18,
+        4
+      ]
+    },
+    {
+      "dataset_index": 60,
+      "timestamp_scan_num": 71,
+      "n_keypoints": 30,
+      "kp_shape": [
+        30,
+        4
+      ]
+    },
+    {
+      "dataset_index": 61,
+      "timestamp_scan_num": 72,
+      "n_keypoints": 33,
+      "kp_shape": [
+        33,
+        4
+      ]
+    },
+    {
+      "dataset_index": 62,
+      "timestamp_scan_num": 73,
+      "n_keypoints": 29,
+      "kp_shape": [
+        29,
+        4
+      ]
+    },
+    {
+      "dataset_index": 63,
+      "timestamp_scan_num": 74,
+      "n_keypoints": 28,
+      "kp_shape": [
+        28,
+        4
+      ]
+    },
+    {
+      "dataset_index": 64,
+      "timestamp_scan_num": 75,
+      "n_keypoints": 30,
+      "kp_shape": [
+        30,
+        4
+      ]
+    },
+    {
+      "dataset_index": 65,
+      "timestamp_scan_num": 76,
+      "n_keypoints": 31,
+      "kp_shape": [
+        31,
+        4
+      ]
+    },
+    {
+      "dataset_index": 66,
+      "timestamp_scan_num": 77,
+      "n_keypoints": 28,
+      "kp_shape": [
+        28,
+        4
+      ]
+    },
+    {
+      "dataset_index": 67,
+      "timestamp_scan_num": 78,
+      "n_keypoints": 26,
+      "kp_shape": [
+        26,
+        4
+      ]
+    },
+    {
+      "dataset_index": 68,
+      "timestamp_scan_num": 79,
+      "n_keypoints": 29,
+      "kp_shape": [
+        29,
+        4
+      ]
+    },
+    {
+      "dataset_index": 69,
+      "timestamp_scan_num": 80,
+      "n_keypoints": 22,
+      "kp_shape": [
+        22,
+        4
+      ]
+    },
+    {
+      "dataset_index": 70,
+      "timestamp_scan_num": 81,
+      "n_keypoints": 30,
+      "kp_shape": [
+        30,
+        4
+      ]
+    },
+    {
+      "dataset_index": 71,
+      "timestamp_scan_num": 82,
+      "n_keypoints": 24,
+      "kp_shape": [
+        24,
+        4
+      ]
+    },
+    {
+      "dataset_index": 72,
+      "timestamp_scan_num": 83,
+      "n_keypoints": 23,
+      "kp_shape": [
+        23,
+        4
+      ]
+    },
+    {
+      "dataset_index": 73,
+      "timestamp_scan_num": 84,
+      "n_keypoints": 29,
+      "kp_shape": [
+        29,
+        4
+      ]
+    },
+    {
+      "dataset_index": 74,
+      "timestamp_scan_num": 85,
+      "n_keypoints": 27,
+      "kp_shape": [
+        27,
+        4
+      ]
+    },
+    {
+      "dataset_index": 75,
+      "timestamp_scan_num": 86,
+      "n_keypoints": 32,
+      "kp_shape": [
+        32,
+        4
+      ]
+    },
+    {
+      "dataset_index": 76,
+      "timestamp_scan_num": 87,
+      "n_keypoints": 25,
+      "kp_shape": [
+        25,
+        4
+      ]
+    },
+    {
+      "dataset_index": 77,
+      "timestamp_scan_num": 88,
+      "n_keypoints": 27,
+      "kp_shape": [
+        27,
+        4
+      ]
+    },
+    {
+      "dataset_index": 78,
+      "timestamp_scan_num": 89,
+      "n_keypoints": 34,
+      "kp_shape": [
+        34,
+        4
+      ]
+    },
+    {
+      "dataset_index": 79,
+      "timestamp_scan_num": 90,
+      "n_keypoints": 25,
+      "kp_shape": [
+        25,
+        4
+      ]
+    },
+    {
+      "dataset_index": 80,
+      "timestamp_scan_num": 91,
+      "n_keypoints": 28,
+      "kp_shape": [
+        28,
+        4
+      ]
+    },
+    {
+      "dataset_index": 81,
+      "timestamp_scan_num": 92,
+      "n_keypoints": 30,
+      "kp_shape": [
+        30,
+        4
+      ]
+    },
+    {
+      "dataset_index": 82,
+      "timestamp_scan_num": 93,
+      "n_keypoints": 30,
+      "kp_shape": [
+        30,
+        4
+      ]
+    },
+    {
+      "dataset_index": 83,
+      "timestamp_scan_num": 94,
+      "n_keypoints": 29,
+      "kp_shape": [
+        29,
+        4
+      ]
+    },
+    {
+      "dataset_index": 84,
+      "timestamp_scan_num": 95,
+      "n_keypoints": 26,
+      "kp_shape": [
+        26,
+        4
+      ]
+    },
+    {
+      "dataset_index": 85,
+      "timestamp_scan_num": 96,
+      "n_keypoints": 25,
+      "kp_shape": [
+        25,
+        4
+      ]
+    },
+    {
+      "dataset_index": 86,
+      "timestamp_scan_num": 97,
+      "n_keypoints": 23,
+      "kp_shape": [
+        23,
+        4
+      ]
+    },
+    {
+      "dataset_index": 87,
+      "timestamp_scan_num": 98,
+      "n_keypoints": 21,
+      "kp_shape": [
+        21,
+        4
+      ]
+    },
+    {
+      "dataset_index": 88,
+      "timestamp_scan_num": 99,
+      "n_keypoints": 22,
+      "kp_shape": [
+        22,
+        4
+      ]
+    },
+    {
+      "dataset_index": 89,
+      "timestamp_scan_num": 100,
+      "n_keypoints": 20,
+      "kp_shape": [
+        20,
+        4
+      ]
+    },
+    {
+      "dataset_index": 90,
+      "timestamp_scan_num": 101,
+      "n_keypoints": 18,
+      "kp_shape": [
+        18,
+        4
+      ]
+    },
+    {
+      "dataset_index": 91,
+      "timestamp_scan_num": 102,
+      "n_keypoints": 23,
+      "kp_shape": [
+        23,
+        4
+      ]
+    },
+    {
+      "dataset_index": 92,
+      "timestamp_scan_num": 103,
+      "n_keypoints": 20,
+      "kp_shape": [
+        20,
+        4
+      ]
+    },
+    {
+      "dataset_index": 93,
+      "timestamp_scan_num": 104,
+      "n_keypoints": 22,
+      "kp_shape": [
+        22,
+        4
+      ]
+    },
+    {
+      "dataset_index": 94,
+      "timestamp_scan_num": 105,
+      "n_keypoints": 25,
+      "kp_shape": [
+        25,
+        4
+      ]
+    },
+    {
+      "dataset_index": 95,
+      "timestamp_scan_num": 106,
+      "n_keypoints": 17,
+      "kp_shape": [
+        17,
+        4
+      ]
+    },
+    {
+      "dataset_index": 96,
+      "timestamp_scan_num": 107,
+      "n_keypoints": 22,
+      "kp_shape": [
+        22,
+        4
+      ]
+    },
+    {
+      "dataset_index": 97,
+      "timestamp_scan_num": 108,
+      "n_keypoints": 22,
+      "kp_shape": [
+        22,
+        4
+      ]
+    },
+    {
+      "dataset_index": 98,
+      "timestamp_scan_num": 109,
+      "n_keypoints": 22,
+      "kp_shape": [
+        22,
+        4
+      ]
+    },
+    {
+      "dataset_index": 99,
+      "timestamp_scan_num": 110,
+      "n_keypoints": 19,
+      "kp_shape": [
+        19,
+        4
+      ]
+    }
+  ]
+}

mcd_cluster_preview_ntu_day01_sgpr100/preview_summary.txt

@@ -0,0 +1,108 @@
+MCD keypoint clustering preview
+cluster_preset=sgpr_sk
+sequence=ntu_day_01 first_100_frames
+out_dir=/home/data/CYD/data/MCD/mcd_cluster_preview_ntu_day01_sgpr100
+
+SGPR eps from get_cluster_config; min_samples=30 (pole/trunk/sign 16,18,19 -> 10); ref methods/sgpr/__init__.py
+
+Per-frame:
+  cloud_0011: n_keypoints=24
+  cloud_0012: n_keypoints=22
+  cloud_0013: n_keypoints=23
+  cloud_0014: n_keypoints=29
+  cloud_0015: n_keypoints=19
+  cloud_0016: n_keypoints=24
+  cloud_0017: n_keypoints=23
+  cloud_0018: n_keypoints=20
+  cloud_0019: n_keypoints=26
+  cloud_0020: n_keypoints=20
+  cloud_0021: n_keypoints=26
+  cloud_0022: n_keypoints=23
+  cloud_0023: n_keypoints=19
+  cloud_0024: n_keypoints=24
+  cloud_0025: n_keypoints=27
+  cloud_0026: n_keypoints=27
+  cloud_0027: n_keypoints=23
+  cloud_0028: n_keypoints=22
+  cloud_0029: n_keypoints=27
+  cloud_0030: n_keypoints=19
+  cloud_0031: n_keypoints=24
+  cloud_0032: n_keypoints=23
+  cloud_0033: n_keypoints=25
+  cloud_0034: n_keypoints=26
+  cloud_0035: n_keypoints=22
+  cloud_0036: n_keypoints=21
+  cloud_0037: n_keypoints=29
+  cloud_0038: n_keypoints=26
+  cloud_0039: n_keypoints=23
+  cloud_0040: n_keypoints=24
+  cloud_0041: n_keypoints=22
+  cloud_0042: n_keypoints=25
+  cloud_0043: n_keypoints=23
+  cloud_0044: n_keypoints=24
+  cloud_0045: n_keypoints=26
+  cloud_0046: n_keypoints=23
+  cloud_0047: n_keypoints=22
+  cloud_0048: n_keypoints=28
+  cloud_0049: n_keypoints=26
+  cloud_0050: n_keypoints=28
+  cloud_0051: n_keypoints=28
+  cloud_0052: n_keypoints=28
+  cloud_0053: n_keypoints=32
+  cloud_0054: n_keypoints=28
+  cloud_0055: n_keypoints=25
+  cloud_0056: n_keypoints=28
+  cloud_0057: n_keypoints=29
+  cloud_0058: n_keypoints=38
+  cloud_0059: n_keypoints=31
+  cloud_0060: n_keypoints=36
+  cloud_0061: n_keypoints=31
+  cloud_0062: n_keypoints=21
+  cloud_0063: n_keypoints=27
+  cloud_0064: n_keypoints=25
+  cloud_0065: n_keypoints=25
+  cloud_0066: n_keypoints=24
+  cloud_0067: n_keypoints=22
+  cloud_0068: n_keypoints=25
+  cloud_0069: n_keypoints=18
+  cloud_0070: n_keypoints=18
+  cloud_0071: n_keypoints=30
+  cloud_0072: n_keypoints=33
+  cloud_0073: n_keypoints=29
+  cloud_0074: n_keypoints=28
+  cloud_0075: n_keypoints=30
+  cloud_0076: n_keypoints=31
+  cloud_0077: n_keypoints=28
+  cloud_0078: n_keypoints=26
+  cloud_0079: n_keypoints=29
+  cloud_0080: n_keypoints=22
+  cloud_0081: n_keypoints=30
+  cloud_0082: n_keypoints=24
+  cloud_0083: n_keypoints=23
+  cloud_0084: n_keypoints=29
+  cloud_0085: n_keypoints=27
+  cloud_0086: n_keypoints=32
+  cloud_0087: n_keypoints=25
+  cloud_0088: n_keypoints=27
+  cloud_0089: n_keypoints=34
+  cloud_0090: n_keypoints=25
+  cloud_0091: n_keypoints=28
+  cloud_0092: n_keypoints=30
+  cloud_0093: n_keypoints=30
+  cloud_0094: n_keypoints=29
+  cloud_0095: n_keypoints=26
+  cloud_0096: n_keypoints=25
+  cloud_0097: n_keypoints=23
+  cloud_0098: n_keypoints=21
+  cloud_0099: n_keypoints=22
+  cloud_0100: n_keypoints=20
+  cloud_0101: n_keypoints=18
+  cloud_0102: n_keypoints=23
+  cloud_0103: n_keypoints=20
+  cloud_0104: n_keypoints=22
+  cloud_0105: n_keypoints=25
+  cloud_0106: n_keypoints=17
+  cloud_0107: n_keypoints=22
+  cloud_0108: n_keypoints=22
+  cloud_0109: n_keypoints=22
+  cloud_0110: n_keypoints=19

mcd_cluster_preview_ntu_day01_sgpr100/vis/index.html

@@ -0,0 +1,203 @@
+<html><body><h2>MCD cluster preview</h2>
+<p>/home/data/CYD/data/MCD/mcd_cluster_preview_ntu_day01_sgpr100</p><ul>
+<li><img src="preview_cloud_0011_bev.png" style="max-width:1200px"/><br/>preview_cloud_0011_bev.png</li>
+<li><img src="preview_cloud_0011_xz.png" style="max-width:1200px"/><br/>preview_cloud_0011_xz.png</li>
+<li><img src="preview_cloud_0012_bev.png" style="max-width:1200px"/><br/>preview_cloud_0012_bev.png</li>
+<li><img src="preview_cloud_0012_xz.png" style="max-width:1200px"/><br/>preview_cloud_0012_xz.png</li>
+<li><img src="preview_cloud_0013_bev.png" style="max-width:1200px"/><br/>preview_cloud_0013_bev.png</li>
+<li><img src="preview_cloud_0013_xz.png" style="max-width:1200px"/><br/>preview_cloud_0013_xz.png</li>
+<li><img src="preview_cloud_0014_bev.png" style="max-width:1200px"/><br/>preview_cloud_0014_bev.png</li>
+<li><img src="preview_cloud_0014_xz.png" style="max-width:1200px"/><br/>preview_cloud_0014_xz.png</li>
+<li><img src="preview_cloud_0015_bev.png" style="max-width:1200px"/><br/>preview_cloud_0015_bev.png</li>
+<li><img src="preview_cloud_0015_xz.png" style="max-width:1200px"/><br/>preview_cloud_0015_xz.png</li>
+<li><img src="preview_cloud_0016_bev.png" style="max-width:1200px"/><br/>preview_cloud_0016_bev.png</li>
+<li><img src="preview_cloud_0016_xz.png" style="max-width:1200px"/><br/>preview_cloud_0016_xz.png</li>
+<li><img src="preview_cloud_0017_bev.png" style="max-width:1200px"/><br/>preview_cloud_0017_bev.png</li>
+<li><img src="preview_cloud_0017_xz.png" style="max-width:1200px"/><br/>preview_cloud_0017_xz.png</li>
+<li><img src="preview_cloud_0018_bev.png" style="max-width:1200px"/><br/>preview_cloud_0018_bev.png</li>
+<li><img src="preview_cloud_0018_xz.png" style="max-width:1200px"/><br/>preview_cloud_0018_xz.png</li>
+<li><img src="preview_cloud_0019_bev.png" style="max-width:1200px"/><br/>preview_cloud_0019_bev.png</li>
+<li><img src="preview_cloud_0019_xz.png" style="max-width:1200px"/><br/>preview_cloud_0019_xz.png</li>
+<li><img src="preview_cloud_0020_bev.png" style="max-width:1200px"/><br/>preview_cloud_0020_bev.png</li>
+<li><img src="preview_cloud_0020_xz.png" style="max-width:1200px"/><br/>preview_cloud_0020_xz.png</li>
+<li><img src="preview_cloud_0021_bev.png" style="max-width:1200px"/><br/>preview_cloud_0021_bev.png</li>
+<li><img src="preview_cloud_0021_xz.png" style="max-width:1200px"/><br/>preview_cloud_0021_xz.png</li>
+<li><img src="preview_cloud_0022_bev.png" style="max-width:1200px"/><br/>preview_cloud_0022_bev.png</li>
+<li><img src="preview_cloud_0022_xz.png" style="max-width:1200px"/><br/>preview_cloud_0022_xz.png</li>
+<li><img src="preview_cloud_0023_bev.png" style="max-width:1200px"/><br/>preview_cloud_0023_bev.png</li>
+<li><img src="preview_cloud_0023_xz.png" style="max-width:1200px"/><br/>preview_cloud_0023_xz.png</li>
+<li><img src="preview_cloud_0024_bev.png" style="max-width:1200px"/><br/>preview_cloud_0024_bev.png</li>
+<li><img src="preview_cloud_0024_xz.png" style="max-width:1200px"/><br/>preview_cloud_0024_xz.png</li>
+<li><img src="preview_cloud_0025_bev.png" style="max-width:1200px"/><br/>preview_cloud_0025_bev.png</li>
+<li><img src="preview_cloud_0025_xz.png" style="max-width:1200px"/><br/>preview_cloud_0025_xz.png</li>
+<li><img src="preview_cloud_0026_bev.png" style="max-width:1200px"/><br/>preview_cloud_0026_bev.png</li>
+<li><img src="preview_cloud_0026_xz.png" style="max-width:1200px"/><br/>preview_cloud_0026_xz.png</li>
+<li><img src="preview_cloud_0027_bev.png" style="max-width:1200px"/><br/>preview_cloud_0027_bev.png</li>
+<li><img src="preview_cloud_0027_xz.png" style="max-width:1200px"/><br/>preview_cloud_0027_xz.png</li>
+<li><img src="preview_cloud_0028_bev.png" style="max-width:1200px"/><br/>preview_cloud_0028_bev.png</li>
+<li><img src="preview_cloud_0028_xz.png" style="max-width:1200px"/><br/>preview_cloud_0028_xz.png</li>
+<li><img src="preview_cloud_0029_bev.png" style="max-width:1200px"/><br/>preview_cloud_0029_bev.png</li>
+<li><img src="preview_cloud_0029_xz.png" style="max-width:1200px"/><br/>preview_cloud_0029_xz.png</li>
+<li><img src="preview_cloud_0030_bev.png" style="max-width:1200px"/><br/>preview_cloud_0030_bev.png</li>
+<li><img src="preview_cloud_0030_xz.png" style="max-width:1200px"/><br/>preview_cloud_0030_xz.png</li>
+<li><img src="preview_cloud_0031_bev.png" style="max-width:1200px"/><br/>preview_cloud_0031_bev.png</li>
+<li><img src="preview_cloud_0031_xz.png" style="max-width:1200px"/><br/>preview_cloud_0031_xz.png</li>
+<li><img src="preview_cloud_0032_bev.png" style="max-width:1200px"/><br/>preview_cloud_0032_bev.png</li>
+<li><img src="preview_cloud_0032_xz.png" style="max-width:1200px"/><br/>preview_cloud_0032_xz.png</li>
+<li><img src="preview_cloud_0033_bev.png" style="max-width:1200px"/><br/>preview_cloud_0033_bev.png</li>
+<li><img src="preview_cloud_0033_xz.png" style="max-width:1200px"/><br/>preview_cloud_0033_xz.png</li>
+<li><img src="preview_cloud_0034_bev.png" style="max-width:1200px"/><br/>preview_cloud_0034_bev.png</li>
+<li><img src="preview_cloud_0034_xz.png" style="max-width:1200px"/><br/>preview_cloud_0034_xz.png</li>
+<li><img src="preview_cloud_0035_bev.png" style="max-width:1200px"/><br/>preview_cloud_0035_bev.png</li>
+<li><img src="preview_cloud_0035_xz.png" style="max-width:1200px"/><br/>preview_cloud_0035_xz.png</li>
+<li><img src="preview_cloud_0036_bev.png" style="max-width:1200px"/><br/>preview_cloud_0036_bev.png</li>
+<li><img src="preview_cloud_0036_xz.png" style="max-width:1200px"/><br/>preview_cloud_0036_xz.png</li>
+<li><img src="preview_cloud_0037_bev.png" style="max-width:1200px"/><br/>preview_cloud_0037_bev.png</li>
+<li><img src="preview_cloud_0037_xz.png" style="max-width:1200px"/><br/>preview_cloud_0037_xz.png</li>
+<li><img src="preview_cloud_0038_bev.png" style="max-width:1200px"/><br/>preview_cloud_0038_bev.png</li>
+<li><img src="preview_cloud_0038_xz.png" style="max-width:1200px"/><br/>preview_cloud_0038_xz.png</li>
+<li><img src="preview_cloud_0039_bev.png" style="max-width:1200px"/><br/>preview_cloud_0039_bev.png</li>
+<li><img src="preview_cloud_0039_xz.png" style="max-width:1200px"/><br/>preview_cloud_0039_xz.png</li>
+<li><img src="preview_cloud_0040_bev.png" style="max-width:1200px"/><br/>preview_cloud_0040_bev.png</li>
+<li><img src="preview_cloud_0040_xz.png" style="max-width:1200px"/><br/>preview_cloud_0040_xz.png</li>
+<li><img src="preview_cloud_0041_bev.png" style="max-width:1200px"/><br/>preview_cloud_0041_bev.png</li>
+<li><img src="preview_cloud_0041_xz.png" style="max-width:1200px"/><br/>preview_cloud_0041_xz.png</li>
+<li><img src="preview_cloud_0042_bev.png" style="max-width:1200px"/><br/>preview_cloud_0042_bev.png</li>
+<li><img src="preview_cloud_0042_xz.png" style="max-width:1200px"/><br/>preview_cloud_0042_xz.png</li>
+<li><img src="preview_cloud_0043_bev.png" style="max-width:1200px"/><br/>preview_cloud_0043_bev.png</li>
+<li><img src="preview_cloud_0043_xz.png" style="max-width:1200px"/><br/>preview_cloud_0043_xz.png</li>
+<li><img src="preview_cloud_0044_bev.png" style="max-width:1200px"/><br/>preview_cloud_0044_bev.png</li>
+<li><img src="preview_cloud_0044_xz.png" style="max-width:1200px"/><br/>preview_cloud_0044_xz.png</li>
+<li><img src="preview_cloud_0045_bev.png" style="max-width:1200px"/><br/>preview_cloud_0045_bev.png</li>
+<li><img src="preview_cloud_0045_xz.png" style="max-width:1200px"/><br/>preview_cloud_0045_xz.png</li>
+<li><img src="preview_cloud_0046_bev.png" style="max-width:1200px"/><br/>preview_cloud_0046_bev.png</li>
+<li><img src="preview_cloud_0046_xz.png" style="max-width:1200px"/><br/>preview_cloud_0046_xz.png</li>
+<li><img src="preview_cloud_0047_bev.png" style="max-width:1200px"/><br/>preview_cloud_0047_bev.png</li>
+<li><img src="preview_cloud_0047_xz.png" style="max-width:1200px"/><br/>preview_cloud_0047_xz.png</li>
+<li><img src="preview_cloud_0048_bev.png" style="max-width:1200px"/><br/>preview_cloud_0048_bev.png</li>
+<li><img src="preview_cloud_0048_xz.png" style="max-width:1200px"/><br/>preview_cloud_0048_xz.png</li>
+<li><img src="preview_cloud_0049_bev.png" style="max-width:1200px"/><br/>preview_cloud_0049_bev.png</li>
+<li><img src="preview_cloud_0049_xz.png" style="max-width:1200px"/><br/>preview_cloud_0049_xz.png</li>
+<li><img src="preview_cloud_0050_bev.png" style="max-width:1200px"/><br/>preview_cloud_0050_bev.png</li>
+<li><img src="preview_cloud_0050_xz.png" style="max-width:1200px"/><br/>preview_cloud_0050_xz.png</li>
+<li><img src="preview_cloud_0051_bev.png" style="max-width:1200px"/><br/>preview_cloud_0051_bev.png</li>
+<li><img src="preview_cloud_0051_xz.png" style="max-width:1200px"/><br/>preview_cloud_0051_xz.png</li>
+<li><img src="preview_cloud_0052_bev.png" style="max-width:1200px"/><br/>preview_cloud_0052_bev.png</li>
+<li><img src="preview_cloud_0052_xz.png" style="max-width:1200px"/><br/>preview_cloud_0052_xz.png</li>
+<li><img src="preview_cloud_0053_bev.png" style="max-width:1200px"/><br/>preview_cloud_0053_bev.png</li>
+<li><img src="preview_cloud_0053_xz.png" style="max-width:1200px"/><br/>preview_cloud_0053_xz.png</li>
+<li><img src="preview_cloud_0054_bev.png" style="max-width:1200px"/><br/>preview_cloud_0054_bev.png</li>
+<li><img src="preview_cloud_0054_xz.png" style="max-width:1200px"/><br/>preview_cloud_0054_xz.png</li>
+<li><img src="preview_cloud_0055_bev.png" style="max-width:1200px"/><br/>preview_cloud_0055_bev.png</li>
+<li><img src="preview_cloud_0055_xz.png" style="max-width:1200px"/><br/>preview_cloud_0055_xz.png</li>
+<li><img src="preview_cloud_0056_bev.png" style="max-width:1200px"/><br/>preview_cloud_0056_bev.png</li>
+<li><img src="preview_cloud_0056_xz.png" style="max-width:1200px"/><br/>preview_cloud_0056_xz.png</li>
+<li><img src="preview_cloud_0057_bev.png" style="max-width:1200px"/><br/>preview_cloud_0057_bev.png</li>
+<li><img src="preview_cloud_0057_xz.png" style="max-width:1200px"/><br/>preview_cloud_0057_xz.png</li>
+<li><img src="preview_cloud_0058_bev.png" style="max-width:1200px"/><br/>preview_cloud_0058_bev.png</li>
+<li><img src="preview_cloud_0058_xz.png" style="max-width:1200px"/><br/>preview_cloud_0058_xz.png</li>
+<li><img src="preview_cloud_0059_bev.png" style="max-width:1200px"/><br/>preview_cloud_0059_bev.png</li>
+<li><img src="preview_cloud_0059_xz.png" style="max-width:1200px"/><br/>preview_cloud_0059_xz.png</li>
+<li><img src="preview_cloud_0060_bev.png" style="max-width:1200px"/><br/>preview_cloud_0060_bev.png</li>
+<li><img src="preview_cloud_0060_xz.png" style="max-width:1200px"/><br/>preview_cloud_0060_xz.png</li>
+<li><img src="preview_cloud_0061_bev.png" style="max-width:1200px"/><br/>preview_cloud_0061_bev.png</li>
+<li><img src="preview_cloud_0061_xz.png" style="max-width:1200px"/><br/>preview_cloud_0061_xz.png</li>
+<li><img src="preview_cloud_0062_bev.png" style="max-width:1200px"/><br/>preview_cloud_0062_bev.png</li>
+<li><img src="preview_cloud_0062_xz.png" style="max-width:1200px"/><br/>preview_cloud_0062_xz.png</li>
+<li><img src="preview_cloud_0063_bev.png" style="max-width:1200px"/><br/>preview_cloud_0063_bev.png</li>
+<li><img src="preview_cloud_0063_xz.png" style="max-width:1200px"/><br/>preview_cloud_0063_xz.png</li>
+<li><img src="preview_cloud_0064_bev.png" style="max-width:1200px"/><br/>preview_cloud_0064_bev.png</li>
+<li><img src="preview_cloud_0064_xz.png" style="max-width:1200px"/><br/>preview_cloud_0064_xz.png</li>
+<li><img src="preview_cloud_0065_bev.png" style="max-width:1200px"/><br/>preview_cloud_0065_bev.png</li>
+<li><img src="preview_cloud_0065_xz.png" style="max-width:1200px"/><br/>preview_cloud_0065_xz.png</li>
+<li><img src="preview_cloud_0066_bev.png" style="max-width:1200px"/><br/>preview_cloud_0066_bev.png</li>
+<li><img src="preview_cloud_0066_xz.png" style="max-width:1200px"/><br/>preview_cloud_0066_xz.png</li>
+<li><img src="preview_cloud_0067_bev.png" style="max-width:1200px"/><br/>preview_cloud_0067_bev.png</li>
+<li><img src="preview_cloud_0067_xz.png" style="max-width:1200px"/><br/>preview_cloud_0067_xz.png</li>
+<li><img src="preview_cloud_0068_bev.png" style="max-width:1200px"/><br/>preview_cloud_0068_bev.png</li>
+<li><img src="preview_cloud_0068_xz.png" style="max-width:1200px"/><br/>preview_cloud_0068_xz.png</li>
+<li><img src="preview_cloud_0069_bev.png" style="max-width:1200px"/><br/>preview_cloud_0069_bev.png</li>
+<li><img src="preview_cloud_0069_xz.png" style="max-width:1200px"/><br/>preview_cloud_0069_xz.png</li>
+<li><img src="preview_cloud_0070_bev.png" style="max-width:1200px"/><br/>preview_cloud_0070_bev.png</li>
+<li><img src="preview_cloud_0070_xz.png" style="max-width:1200px"/><br/>preview_cloud_0070_xz.png</li>
+<li><img src="preview_cloud_0071_bev.png" style="max-width:1200px"/><br/>preview_cloud_0071_bev.png</li>
+<li><img src="preview_cloud_0071_xz.png" style="max-width:1200px"/><br/>preview_cloud_0071_xz.png</li>
+<li><img src="preview_cloud_0072_bev.png" style="max-width:1200px"/><br/>preview_cloud_0072_bev.png</li>
+<li><img src="preview_cloud_0072_xz.png" style="max-width:1200px"/><br/>preview_cloud_0072_xz.png</li>
+<li><img src="preview_cloud_0073_bev.png" style="max-width:1200px"/><br/>preview_cloud_0073_bev.png</li>
+<li><img src="preview_cloud_0073_xz.png" style="max-width:1200px"/><br/>preview_cloud_0073_xz.png</li>
+<li><img src="preview_cloud_0074_bev.png" style="max-width:1200px"/><br/>preview_cloud_0074_bev.png</li>
+<li><img src="preview_cloud_0074_xz.png" style="max-width:1200px"/><br/>preview_cloud_0074_xz.png</li>
+<li><img src="preview_cloud_0075_bev.png" style="max-width:1200px"/><br/>preview_cloud_0075_bev.png</li>
+<li><img src="preview_cloud_0075_xz.png" style="max-width:1200px"/><br/>preview_cloud_0075_xz.png</li>
+<li><img src="preview_cloud_0076_bev.png" style="max-width:1200px"/><br/>preview_cloud_0076_bev.png</li>
+<li><img src="preview_cloud_0076_xz.png" style="max-width:1200px"/><br/>preview_cloud_0076_xz.png</li>
+<li><img src="preview_cloud_0077_bev.png" style="max-width:1200px"/><br/>preview_cloud_0077_bev.png</li>
+<li><img src="preview_cloud_0077_xz.png" style="max-width:1200px"/><br/>preview_cloud_0077_xz.png</li>
+<li><img src="preview_cloud_0078_bev.png" style="max-width:1200px"/><br/>preview_cloud_0078_bev.png</li>
+<li><img src="preview_cloud_0078_xz.png" style="max-width:1200px"/><br/>preview_cloud_0078_xz.png</li>
+<li><img src="preview_cloud_0079_bev.png" style="max-width:1200px"/><br/>preview_cloud_0079_bev.png</li>
+<li><img src="preview_cloud_0079_xz.png" style="max-width:1200px"/><br/>preview_cloud_0079_xz.png</li>
+<li><img src="preview_cloud_0080_bev.png" style="max-width:1200px"/><br/>preview_cloud_0080_bev.png</li>
+<li><img src="preview_cloud_0080_xz.png" style="max-width:1200px"/><br/>preview_cloud_0080_xz.png</li>
+<li><img src="preview_cloud_0081_bev.png" style="max-width:1200px"/><br/>preview_cloud_0081_bev.png</li>
+<li><img src="preview_cloud_0081_xz.png" style="max-width:1200px"/><br/>preview_cloud_0081_xz.png</li>
+<li><img src="preview_cloud_0082_bev.png" style="max-width:1200px"/><br/>preview_cloud_0082_bev.png</li>
+<li><img src="preview_cloud_0082_xz.png" style="max-width:1200px"/><br/>preview_cloud_0082_xz.png</li>
+<li><img src="preview_cloud_0083_bev.png" style="max-width:1200px"/><br/>preview_cloud_0083_bev.png</li>
+<li><img src="preview_cloud_0083_xz.png" style="max-width:1200px"/><br/>preview_cloud_0083_xz.png</li>
+<li><img src="preview_cloud_0084_bev.png" style="max-width:1200px"/><br/>preview_cloud_0084_bev.png</li>
+<li><img src="preview_cloud_0084_xz.png" style="max-width:1200px"/><br/>preview_cloud_0084_xz.png</li>
+<li><img src="preview_cloud_0085_bev.png" style="max-width:1200px"/><br/>preview_cloud_0085_bev.png</li>
+<li><img src="preview_cloud_0085_xz.png" style="max-width:1200px"/><br/>preview_cloud_0085_xz.png</li>
+<li><img src="preview_cloud_0086_bev.png" style="max-width:1200px"/><br/>preview_cloud_0086_bev.png</li>
+<li><img src="preview_cloud_0086_xz.png" style="max-width:1200px"/><br/>preview_cloud_0086_xz.png</li>
+<li><img src="preview_cloud_0087_bev.png" style="max-width:1200px"/><br/>preview_cloud_0087_bev.png</li>
+<li><img src="preview_cloud_0087_xz.png" style="max-width:1200px"/><br/>preview_cloud_0087_xz.png</li>
+<li><img src="preview_cloud_0088_bev.png" style="max-width:1200px"/><br/>preview_cloud_0088_bev.png</li>
+<li><img src="preview_cloud_0088_xz.png" style="max-width:1200px"/><br/>preview_cloud_0088_xz.png</li>
+<li><img src="preview_cloud_0089_bev.png" style="max-width:1200px"/><br/>preview_cloud_0089_bev.png</li>
+<li><img src="preview_cloud_0089_xz.png" style="max-width:1200px"/><br/>preview_cloud_0089_xz.png</li>
+<li><img src="preview_cloud_0090_bev.png" style="max-width:1200px"/><br/>preview_cloud_0090_bev.png</li>
+<li><img src="preview_cloud_0090_xz.png" style="max-width:1200px"/><br/>preview_cloud_0090_xz.png</li>
+<li><img src="preview_cloud_0091_bev.png" style="max-width:1200px"/><br/>preview_cloud_0091_bev.png</li>
+<li><img src="preview_cloud_0091_xz.png" style="max-width:1200px"/><br/>preview_cloud_0091_xz.png</li>
+<li><img src="preview_cloud_0092_bev.png" style="max-width:1200px"/><br/>preview_cloud_0092_bev.png</li>
+<li><img src="preview_cloud_0092_xz.png" style="max-width:1200px"/><br/>preview_cloud_0092_xz.png</li>
+<li><img src="preview_cloud_0093_bev.png" style="max-width:1200px"/><br/>preview_cloud_0093_bev.png</li>
+<li><img src="preview_cloud_0093_xz.png" style="max-width:1200px"/><br/>preview_cloud_0093_xz.png</li>
+<li><img src="preview_cloud_0094_bev.png" style="max-width:1200px"/><br/>preview_cloud_0094_bev.png</li>
+<li><img src="preview_cloud_0094_xz.png" style="max-width:1200px"/><br/>preview_cloud_0094_xz.png</li>
+<li><img src="preview_cloud_0095_bev.png" style="max-width:1200px"/><br/>preview_cloud_0095_bev.png</li>
+<li><img src="preview_cloud_0095_xz.png" style="max-width:1200px"/><br/>preview_cloud_0095_xz.png</li>
+<li><img src="preview_cloud_0096_bev.png" style="max-width:1200px"/><br/>preview_cloud_0096_bev.png</li>
+<li><img src="preview_cloud_0096_xz.png" style="max-width:1200px"/><br/>preview_cloud_0096_xz.png</li>
+<li><img src="preview_cloud_0097_bev.png" style="max-width:1200px"/><br/>preview_cloud_0097_bev.png</li>
+<li><img src="preview_cloud_0097_xz.png" style="max-width:1200px"/><br/>preview_cloud_0097_xz.png</li>
+<li><img src="preview_cloud_0098_bev.png" style="max-width:1200px"/><br/>preview_cloud_0098_bev.png</li>
+<li><img src="preview_cloud_0098_xz.png" style="max-width:1200px"/><br/>preview_cloud_0098_xz.png</li>
+<li><img src="preview_cloud_0099_bev.png" style="max-width:1200px"/><br/>preview_cloud_0099_bev.png</li>
+<li><img src="preview_cloud_0099_xz.png" style="max-width:1200px"/><br/>preview_cloud_0099_xz.png</li>
+<li><img src="preview_cloud_0100_bev.png" style="max-width:1200px"/><br/>preview_cloud_0100_bev.png</li>
+<li><img src="preview_cloud_0100_xz.png" style="max-width:1200px"/><br/>preview_cloud_0100_xz.png</li>
+<li><img src="preview_cloud_0101_bev.png" style="max-width:1200px"/><br/>preview_cloud_0101_bev.png</li>
+<li><img src="preview_cloud_0101_xz.png" style="max-width:1200px"/><br/>preview_cloud_0101_xz.png</li>
+<li><img src="preview_cloud_0102_bev.png" style="max-width:1200px"/><br/>preview_cloud_0102_bev.png</li>
+<li><img src="preview_cloud_0102_xz.png" style="max-width:1200px"/><br/>preview_cloud_0102_xz.png</li>
+<li><img src="preview_cloud_0103_bev.png" style="max-width:1200px"/><br/>preview_cloud_0103_bev.png</li>
+<li><img src="preview_cloud_0103_xz.png" style="max-width:1200px"/><br/>preview_cloud_0103_xz.png</li>
+<li><img src="preview_cloud_0104_bev.png" style="max-width:1200px"/><br/>preview_cloud_0104_bev.png</li>
+<li><img src="preview_cloud_0104_xz.png" style="max-width:1200px"/><br/>preview_cloud_0104_xz.png</li>
+<li><img src="preview_cloud_0105_bev.png" style="max-width:1200px"/><br/>preview_cloud_0105_bev.png</li>
+<li><img src="preview_cloud_0105_xz.png" style="max-width:1200px"/><br/>preview_cloud_0105_xz.png</li>
+<li><img src="preview_cloud_0106_bev.png" style="max-width:1200px"/><br/>preview_cloud_0106_bev.png</li>
+<li><img src="preview_cloud_0106_xz.png" style="max-width:1200px"/><br/>preview_cloud_0106_xz.png</li>
+<li><img src="preview_cloud_0107_bev.png" style="max-width:1200px"/><br/>preview_cloud_0107_bev.png</li>
+<li><img src="preview_cloud_0107_xz.png" style="max-width:1200px"/><br/>preview_cloud_0107_xz.png</li>
+<li><img src="preview_cloud_0108_bev.png" style="max-width:1200px"/><br/>preview_cloud_0108_bev.png</li>
+<li><img src="preview_cloud_0108_xz.png" style="max-width:1200px"/><br/>preview_cloud_0108_xz.png</li>
+<li><img src="preview_cloud_0109_bev.png" style="max-width:1200px"/><br/>preview_cloud_0109_bev.png</li>
+<li><img src="preview_cloud_0109_xz.png" style="max-width:1200px"/><br/>preview_cloud_0109_xz.png</li>
+<li><img src="preview_cloud_0110_bev.png" style="max-width:1200px"/><br/>preview_cloud_0110_bev.png</li>
+<li><img src="preview_cloud_0110_xz.png" style="max-width:1200px"/><br/>preview_cloud_0110_xz.png</li>
+</ul></body></html>

read.txt

@@ -0,0 +1,91 @@
+The labelled pointclouds are released as pcd files. To read an pcd file into a numpy array, we recommend the package pypcd.
+
+
+How to use evo to evaluate the pose I get with the pose_inW.csv?
+
+It says clearly. it must have 8 entry. TUM expects: timestamp x y z q_x q_y q_z q_w
+
+what you have is num t x y z qx qy qz qw
+
+1num 2t 3x 4y 5z 6qx 7qy 8qz 9qw
+
+I think the answer is pretty clear. Delete First column
+
+
+
+
+How to obtain annotated Lidar with corresponding pose files?
+
+I have uploaded the poses of the pointclouds in each ground truth folder. Please check them and let me know if there is any issue.
+
+
+
+Thank you very much for your work!
+In many sequences the gps data seems broken (e.g. ntu_day_01). I was wondering if this is really the data you got or if simply something went wrong when splitting the bags.
+
+Best regards,
+Louis
+
+
+Hi Louis. For GPS, there is no guarantee of availability. We tried to collect data, but most of the time, GPS suffers from multi-path issues or fails to lock. That's why we had to survey the large area and perform CEVA fitting of the trajectory for ground truth. If you take a look at the campus, you'll see that most places have tall structures. One suggestion is to fit the available GPS data with the LiDAR trajectory and then generate pseudo-GPS data. This approach should be more reliable.
+
+
+Hi,
+
+For the NTU and KTH sequences, the prior maps were aligned with GPS coordinates of the real locations.
+
+The original prior maps have very large coordinates, presumably in some global position convention, which we have added some offsets to it to produce the ground truth
+
+NTU:
+geo_offset = [-10900.00, -36000.00, -20];
+
+KTH:
+geo_offset = [-154100.0, -6581400.0, 0.0];
+
+I suppose you can add these to the ground truth coordinates and use some conversions to get back the lat-lon coordinates. But I am not sure what the formulas are.
+
+
+
+
+Descrete time ground truth
+For those who only need a traditional discrete-time ground truth for benchmarking SLAM methods, you can use the pose_inW.csv associated with each sequence. This data is sampled from the continuous time ground truth at 0.1s interval. The content looks like the following:
+
+num	t                 x                 y                 z                 qx                  qy                 qz                  qw
+11	1644823132.49211  49.2606317111444  107.371797989247  7.63580957239259  0.936118452267473  -0.351663294301812  0.003894594980225  -5.3806028052E-05
+12	1644823132.59122  49.2617548510814  107.371820422962  7.63634221875222  0.936400655699795  -0.350853723839147  0.001952716665257  -0.007187723619002
+13	1644823132.69085  49.2627442641658  107.370734597833  7.63708972884333  0.937130644015062  -0.348934531427190  0.005541781558079  -0.000370786684933
+14	1644823132.79213  49.2634361009274  107.369692804349  7.63756375797164  0.935347736233029  -0.353687216878511  0.004396339541646  -0.003261462726211
+15	1644823132.89130  49.2637252742628  107.368872120271  7.63750418262036  0.936261362661676  -0.351231145451445  0.005677919353789  -0.004370867600258
+...
+Here, num is the index of the lidar pointcloud in the bag file, t is the time stamp, and (x, y, z, qx, qy, qz, qw) is the pose of the body frame wrt to the world frame.
+
+
+{0: 'barrier',
+ 1: 'bike',
+ 2: 'building',
+ 3: 'chair',
+ 4: 'cliff',
+ 5: 'container',
+ 6: 'curb',
+ 7: 'fence',
+ 8: 'hydrant',
+ 9: 'infosign',
+ 10: 'lanemarking',
+ 11: 'noise',
+ 12: 'other',
+ 13: 'parkinglot',
+ 14: 'pedestrian',
+ 15: 'pole',
+ 16: 'road',
+ 17: 'shelter',
+ 18: 'sidewalk',
+ 19: 'stairs',
+ 20: 'structure-other',
+ 21: 'traffic-cone',
+ 22: 'traffic-sign',
+ 23: 'trashbin',
+ 24: 'treetrunk',
+ 25: 'vegetation',
+ 26: 'vehicle-dynamic',
+ 27: 'vehicle-other',
+ 28: 'vehicle-static'}