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+      "timestamp_scan_num": 5968,
+      "n_keypoints": 11,
+      "kp_shape": [
+        11,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5958,
+      "timestamp_scan_num": 5969,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5959,
+      "timestamp_scan_num": 5970,
+      "n_keypoints": 14,
+      "kp_shape": [
+        14,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5960,
+      "timestamp_scan_num": 5971,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5961,
+      "timestamp_scan_num": 5972,
+      "n_keypoints": 11,
+      "kp_shape": [
+        11,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5962,
+      "timestamp_scan_num": 5973,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5963,
+      "timestamp_scan_num": 5974,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5964,
+      "timestamp_scan_num": 5975,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5965,
+      "timestamp_scan_num": 5976,
+      "n_keypoints": 11,
+      "kp_shape": [
+        11,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5966,
+      "timestamp_scan_num": 5977,
+      "n_keypoints": 10,
+      "kp_shape": [
+        10,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5967,
+      "timestamp_scan_num": 5978,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5968,
+      "timestamp_scan_num": 5979,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5969,
+      "timestamp_scan_num": 5980,
+      "n_keypoints": 9,
+      "kp_shape": [
+        9,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5970,
+      "timestamp_scan_num": 5981,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5971,
+      "timestamp_scan_num": 5982,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5972,
+      "timestamp_scan_num": 5983,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5973,
+      "timestamp_scan_num": 5984,
+      "n_keypoints": 14,
+      "kp_shape": [
+        14,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5974,
+      "timestamp_scan_num": 5985,
+      "n_keypoints": 9,
+      "kp_shape": [
+        9,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5975,
+      "timestamp_scan_num": 5986,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5976,
+      "timestamp_scan_num": 5987,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5977,
+      "timestamp_scan_num": 5988,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5978,
+      "timestamp_scan_num": 5989,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5979,
+      "timestamp_scan_num": 5990,
+      "n_keypoints": 8,
+      "kp_shape": [
+        8,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5980,
+      "timestamp_scan_num": 5991,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5981,
+      "timestamp_scan_num": 5992,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5982,
+      "timestamp_scan_num": 5993,
+      "n_keypoints": 10,
+      "kp_shape": [
+        10,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5983,
+      "timestamp_scan_num": 5994,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5984,
+      "timestamp_scan_num": 5995,
+      "n_keypoints": 8,
+      "kp_shape": [
+        8,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5985,
+      "timestamp_scan_num": 5996,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5986,
+      "timestamp_scan_num": 5997,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5987,
+      "timestamp_scan_num": 5998,
+      "n_keypoints": 9,
+      "kp_shape": [
+        9,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5988,
+      "timestamp_scan_num": 5999,
+      "n_keypoints": 14,
+      "kp_shape": [
+        14,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5989,
+      "timestamp_scan_num": 6000,
+      "n_keypoints": 10,
+      "kp_shape": [
+        10,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5990,
+      "timestamp_scan_num": 6001,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5991,
+      "timestamp_scan_num": 6002,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5992,
+      "timestamp_scan_num": 6003,
+      "n_keypoints": 9,
+      "kp_shape": [
+        9,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5993,
+      "timestamp_scan_num": 6004,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5994,
+      "timestamp_scan_num": 6005,
+      "n_keypoints": 9,
+      "kp_shape": [
+        9,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5995,
+      "timestamp_scan_num": 6006,
+      "n_keypoints": 11,
+      "kp_shape": [
+        11,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5996,
+      "timestamp_scan_num": 6007,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5997,
+      "timestamp_scan_num": 6008,
+      "n_keypoints": 10,
+      "kp_shape": [
+        10,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5998,
+      "timestamp_scan_num": 6009,
+      "n_keypoints": 11,
+      "kp_shape": [
+        11,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5999,
+      "timestamp_scan_num": 6010,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6000,
+      "timestamp_scan_num": 6011,
+      "n_keypoints": 8,
+      "kp_shape": [
+        8,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6001,
+      "timestamp_scan_num": 6012,
+      "n_keypoints": 13,
+      "kp_shape": [
+        13,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6002,
+      "timestamp_scan_num": 6013,
+      "n_keypoints": 11,
+      "kp_shape": [
+        11,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6003,
+      "timestamp_scan_num": 6014,
+      "n_keypoints": 11,
+      "kp_shape": [
+        11,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6004,
+      "timestamp_scan_num": 6015,
+      "n_keypoints": 14,
+      "kp_shape": [
+        14,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6005,
+      "timestamp_scan_num": 6016,
+      "n_keypoints": 9,
+      "kp_shape": [
+        9,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6006,
+      "timestamp_scan_num": 6017,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6007,
+      "timestamp_scan_num": 6018,
+      "n_keypoints": 11,
+      "kp_shape": [
+        11,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6008,
+      "timestamp_scan_num": 6019,
+      "n_keypoints": 12,
+      "kp_shape": [
+        12,
+        4
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/mcd_cluster_ntu_day01_sgpr/run_full.log b/mcd_cluster_ntu_day01_sgpr/run_full.log
new file mode 100644
index 0000000000000000000000000000000000000000..37ecb1f3622ac29b76d48364f57f8da3035391fd
--- /dev/null
+++ b/mcd_cluster_ntu_day01_sgpr/run_full.log
@@ -0,0 +1,6023 @@
+/home/data/CYD/miniconda3/envs/SG/lib/python3.8/site-packages/MinkowskiEngine/__init__.py:36: UserWarning: The environment variable `OMP_NUM_THREADS` not set. MinkowskiEngine will automatically set `OMP_NUM_THREADS=16`. If you want to set `OMP_NUM_THREADS` manually, please export it on the command line before running a python script. e.g. `export OMP_NUM_THREADS=12; python your_program.py`. It is recommended to set it below 24.
+  warnings.warn(
+Number of poses: 6009
+6009 scans in ntu_day_01-all
+
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[TriGF] Clustering keypoints:  14%|█▍        | 105/752 [01:06<03:21,  3.20it/s]
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[TriGF] Clustering keypoints:  14%|█▍        | 108/752 [01:07<03:30,  3.05it/s]
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[TriGF] Clustering keypoints:  15%|█▍        | 110/752 [01:07<03:21,  3.19it/s]
[TriGF] Clustering keypoints:  15%|█▍        | 111/752 [01:08<03:23,  3.16it/s]
[TriGF] Clustering keypoints:  15%|█▍        | 112/752 [01:09<06:18,  1.69it/s]
[TriGF] Clustering keypoints:  15%|█▌        | 113/752 [01:09<05:36,  1.90it/s]
[TriGF] Clustering keypoints:  15%|█▌        | 114/752 [01:10<05:35,  1.90it/s]
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[TriGF] Clustering keypoints:  15%|█▌        | 116/752 [01:11<05:46,  1.84it/s]
[TriGF] Clustering keypoints:  16%|█▌        | 117/752 [01:11<05:47,  1.83it/s]
[TriGF] Clustering keypoints:  16%|█▌        | 118/752 [01:12<05:29,  1.92it/s]
[TriGF] Clustering keypoints:  16%|█▌        | 119/752 [01:12<05:21,  1.97it/s]
[TriGF] Clustering keypoints:  16%|█▌        | 120/752 [01:13<05:08,  2.05it/s]
[TriGF] Clustering keypoints:  16%|█▌        | 121/752 [01:14<07:18,  1.44it/s]
[TriGF] Clustering keypoints:  16%|█▌        | 122/752 [01:15<06:59,  1.50it/s]
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[TriGF] Clustering keypoints:  16%|█▋        | 124/752 [01:16<06:53,  1.52it/s]
[TriGF] Clustering keypoints:  17%|█▋        | 125/752 [01:16<06:28,  1.62it/s]
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[TriGF] Clustering keypoints:  17%|█▋        | 127/752 [01:17<05:28,  1.90it/s]
[TriGF] Clustering keypoints:  17%|█▋        | 128/752 [01:18<05:27,  1.90it/s]
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[TriGF] Clustering keypoints:  17%|█▋        | 130/752 [01:20<07:25,  1.40it/s]
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[TriGF] Clustering keypoints:  18%|█▊        | 132/752 [01:21<06:00,  1.72it/s]
[TriGF] Clustering keypoints:  18%|█▊        | 133/752 [01:21<05:49,  1.77it/s]
[TriGF] Clustering keypoints:  18%|█▊        | 134/752 [01:22<05:28,  1.88it/s]
[TriGF] Clustering keypoints:  18%|█▊        | 135/752 [01:22<05:13,  1.97it/s]
[TriGF] Clustering keypoints:  18%|█▊        | 136/752 [01:23<04:53,  2.10it/s]
[TriGF] Clustering keypoints:  18%|█▊        | 137/752 [01:23<04:23,  2.33it/s]
[TriGF] Clustering keypoints:  18%|█▊        | 138/752 [01:23<04:07,  2.48it/s]
[TriGF] Clustering keypoints:  18%|█▊        | 139/752 [01:24<05:05,  2.01it/s]
[TriGF] Clustering keypoints:  19%|█▊        | 140/752 [01:24<04:48,  2.12it/s]
[TriGF] Clustering keypoints:  19%|█▉        | 141/752 [01:25<04:34,  2.22it/s]
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[TriGF] Clustering keypoints:  19%|█▉        | 145/752 [01:26<04:19,  2.34it/s]
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[TriGF] Clustering keypoints:  20%|█▉        | 147/752 [01:28<06:08,  1.64it/s]
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[TriGF] Clustering keypoints:  20%|██        | 151/752 [01:30<05:20,  1.87it/s]
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[TriGF] Clustering keypoints:  22%|██▏       | 162/752 [01:36<05:50,  1.69it/s]
[TriGF] Clustering keypoints:  22%|██▏       | 163/752 [01:37<08:08,  1.21it/s]
[TriGF] Clustering keypoints:  22%|██▏       | 164/752 [01:39<11:34,  1.18s/it]
[TriGF] Clustering keypoints:  22%|██▏       | 165/752 [01:41<13:31,  1.38s/it]
[TriGF] Clustering keypoints:  22%|██▏       | 166/752 [01:41<10:55,  1.12s/it]
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[TriGF] Clustering keypoints:  22%|██▏       | 168/752 [01:42<07:53,  1.23it/s]
[TriGF] Clustering keypoints:  22%|██▏       | 169/752 [01:43<06:37,  1.47it/s]
[TriGF] Clustering keypoints:  23%|██▎       | 170/752 [01:43<05:37,  1.73it/s]
[TriGF] Clustering keypoints:  23%|██▎       | 171/752 [01:44<05:01,  1.93it/s]
[TriGF] Clustering keypoints:  23%|██▎       | 172/752 [01:44<04:33,  2.12it/s]
[TriGF] Clustering keypoints:  23%|██▎       | 173/752 [01:44<04:17,  2.25it/s]
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[TriGF] Clustering keypoints:  24%|██▎       | 177/752 [01:46<04:33,  2.10it/s]
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[TriGF] Clustering keypoints:  25%|██▍       | 185/752 [01:51<06:52,  1.37it/s]
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[TriGF] Clustering keypoints:  25%|██▌       | 188/752 [01:53<05:47,  1.62it/s]
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[TriGF] Clustering keypoints:  25%|██▌       | 191/752 [01:55<05:09,  1.82it/s]
[TriGF] Clustering keypoints:  26%|██▌       | 192/752 [01:55<04:34,  2.04it/s]
[TriGF] Clustering keypoints:  26%|██▌       | 193/752 [01:57<08:04,  1.15it/s]
[TriGF] Clustering keypoints:  26%|██▌       | 194/752 [01:58<07:49,  1.19it/s]
[TriGF] Clustering keypoints:  26%|██▌       | 195/752 [01:58<07:24,  1.25it/s]
[TriGF] Clustering keypoints:  26%|██▌       | 196/752 [01:59<07:01,  1.32it/s]
[TriGF] Clustering keypoints:  26%|██▌       | 197/752 [02:00<06:19,  1.46it/s]
[TriGF] Clustering keypoints:  26%|██▋       | 198/752 [02:00<05:41,  1.62it/s]
[TriGF] Clustering keypoints:  26%|██▋       | 199/752 [02:00<04:52,  1.89it/s]
[TriGF] Clustering keypoints:  27%|██▋       | 200/752 [02:02<07:21,  1.25it/s]
[TriGF] Clustering keypoints:  27%|██▋       | 201/752 [02:02<06:00,  1.53it/s]
[TriGF] Clustering keypoints:  27%|██▋       | 202/752 [02:02<05:03,  1.81it/s]
[TriGF] Clustering keypoints:  27%|██▋       | 203/752 [02:03<04:29,  2.04it/s]
[TriGF] Clustering keypoints:  27%|██▋       | 204/752 [02:03<04:17,  2.13it/s]
[TriGF] Clustering keypoints:  27%|██▋       | 205/752 [02:04<05:02,  1.81it/s]
[TriGF] Clustering keypoints:  27%|██▋       | 206/752 [02:04<04:38,  1.96it/s]
[TriGF] Clustering keypoints:  28%|██▊       | 207/752 [02:05<04:24,  2.06it/s]
[TriGF] Clustering keypoints:  28%|██▊       | 208/752 [02:05<04:17,  2.11it/s]
[TriGF] Clustering keypoints:  28%|██▊       | 209/752 [02:06<04:06,  2.20it/s]
[TriGF] Clustering keypoints:  28%|██▊       | 210/752 [02:07<07:42,  1.17it/s]
[TriGF] Clustering keypoints:  28%|██▊       | 211/752 [02:08<06:44,  1.34it/s]
[TriGF] Clustering keypoints:  28%|██▊       | 212/752 [02:08<06:03,  1.49it/s]
[TriGF] Clustering keypoints:  28%|██▊       | 213/752 [02:09<06:04,  1.48it/s]
[TriGF] Clustering keypoints:  28%|██▊       | 214/752 [02:10<05:36,  1.60it/s]
[TriGF] Clustering keypoints:  29%|██▊       | 215/752 [02:10<04:57,  1.81it/s]
[TriGF] Clustering keypoints:  29%|██▊       | 216/752 [02:10<04:40,  1.91it/s]
[TriGF] Clustering keypoints:  29%|██▉       | 217/752 [02:11<04:25,  2.01it/s]
[TriGF] Clustering keypoints:  29%|██▉       | 218/752 [02:12<05:31,  1.61it/s]
[TriGF] Clustering keypoints:  29%|██▉       | 219/752 [02:12<05:02,  1.76it/s]
[TriGF] Clustering keypoints:  29%|██▉       | 220/752 [02:13<04:45,  1.86it/s]
[TriGF] Clustering keypoints:  29%|██▉       | 221/752 [02:13<04:40,  1.89it/s]
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[TriGF] Clustering keypoints:  30%|██▉       | 223/752 [02:14<04:19,  2.04it/s]
[TriGF] Clustering keypoints:  30%|██▉       | 224/752 [02:14<04:01,  2.18it/s]
[TriGF] Clustering keypoints:  30%|██▉       | 225/752 [02:17<08:18,  1.06it/s]
[TriGF] Clustering keypoints:  30%|███       | 226/752 [02:17<07:00,  1.25it/s]
[TriGF] Clustering keypoints:  30%|███       | 227/752 [02:17<06:00,  1.45it/s]
[TriGF] Clustering keypoints:  30%|███       | 228/752 [02:18<05:15,  1.66it/s]
[TriGF] Clustering keypoints:  30%|███       | 229/752 [02:18<05:08,  1.70it/s]
[TriGF] Clustering keypoints:  31%|███       | 230/752 [02:19<04:50,  1.79it/s]
[TriGF] Clustering keypoints:  31%|███       | 231/752 [02:19<04:34,  1.89it/s]
[TriGF] Clustering keypoints:  31%|███       | 232/752 [02:20<04:32,  1.91it/s]
[TriGF] Clustering keypoints:  31%|███       | 233/752 [02:20<04:36,  1.88it/s]
[TriGF] Clustering keypoints:  31%|███       | 234/752 [02:21<05:01,  1.72it/s]
[TriGF] Clustering keypoints:  31%|███▏      | 235/752 [02:22<05:32,  1.55it/s]
[TriGF] Clustering keypoints:  31%|███▏      | 236/752 [02:23<05:47,  1.48it/s]
[TriGF] Clustering keypoints:  32%|███▏      | 237/752 [02:24<06:47,  1.26it/s]
[TriGF] Clustering keypoints:  32%|███▏      | 238/752 [02:25<08:18,  1.03it/s]
[TriGF] Clustering keypoints:  32%|███▏      | 239/752 [02:26<08:19,  1.03it/s]
[TriGF] Clustering keypoints:  32%|███▏      | 240/752 [02:27<07:28,  1.14it/s]
[TriGF] Clustering keypoints:  32%|███▏      | 241/752 [02:27<06:34,  1.29it/s]
[TriGF] Clustering keypoints:  32%|███▏      | 242/752 [02:28<05:56,  1.43it/s]
[TriGF] Clustering keypoints:  32%|███▏      | 243/752 [02:28<05:25,  1.56it/s]
[TriGF] Clustering keypoints:  32%|███▏      | 244/752 [02:29<05:01,  1.68it/s]
[TriGF] Clustering keypoints:  33%|███▎      | 245/752 [02:29<04:48,  1.76it/s]
[TriGF] Clustering keypoints:  33%|███▎      | 246/752 [02:31<08:32,  1.01s/it]
[TriGF] Clustering keypoints:  33%|███▎      | 247/752 [02:32<07:43,  1.09it/s]
[TriGF] Clustering keypoints:  33%|███▎      | 248/752 [02:33<07:26,  1.13it/s]
[TriGF] Clustering keypoints:  33%|███▎      | 249/752 [02:34<07:36,  1.10it/s]
[TriGF] Clustering keypoints:  33%|███▎      | 250/752 [02:35<07:19,  1.14it/s]
[TriGF] Clustering keypoints:  33%|███▎      | 251/752 [02:35<06:46,  1.23it/s]
[TriGF] Clustering keypoints:  34%|███▎      | 252/752 [02:36<06:01,  1.38it/s]
[TriGF] Clustering keypoints:  34%|███▎      | 253/752 [02:37<06:16,  1.33it/s]
[TriGF] Clustering keypoints:  34%|███▍      | 254/752 [02:37<05:30,  1.51it/s]
[TriGF] Clustering keypoints:  34%|███▍      | 255/752 [02:38<05:17,  1.57it/s]
[TriGF] Clustering keypoints:  34%|███▍      | 256/752 [02:38<04:49,  1.71it/s]
[TriGF] Clustering keypoints:  34%|███▍      | 257/752 [02:39<04:28,  1.85it/s]
[TriGF] Clustering keypoints:  34%|███▍      | 258/752 [02:39<04:07,  1.99it/s]
[TriGF] Clustering keypoints:  34%|███▍      | 259/752 [02:39<03:51,  2.13it/s]
[TriGF] Clustering keypoints:  35%|███▍      | 260/752 [02:40<04:02,  2.03it/s]
[TriGF] Clustering keypoints:  35%|███▍      | 261/752 [02:40<03:56,  2.08it/s]
[TriGF] Clustering keypoints:  35%|███▍      | 262/752 [02:41<03:53,  2.09it/s]
[TriGF] Clustering keypoints:  35%|███▍      | 263/752 [02:41<03:40,  2.21it/s]
[TriGF] Clustering keypoints:  35%|███▌      | 264/752 [02:42<03:22,  2.41it/s]
[TriGF] Clustering keypoints:  35%|███▌      | 265/752 [02:42<03:08,  2.59it/s]
[TriGF] Clustering keypoints:  35%|███▌      | 266/752 [02:42<02:57,  2.73it/s]
[TriGF] Clustering keypoints:  36%|███▌      | 267/752 [02:42<02:51,  2.82it/s]
[TriGF] Clustering keypoints:  36%|███▌      | 268/752 [02:43<02:57,  2.73it/s]
[TriGF] Clustering keypoints:  36%|███▌      | 269/752 [02:43<02:47,  2.88it/s]
[TriGF] Clustering keypoints:  36%|███▌      | 270/752 [02:46<07:58,  1.01it/s]
[TriGF] Clustering keypoints:  36%|███▌      | 271/752 [02:46<06:24,  1.25it/s]
[TriGF] Clustering keypoints:  36%|███▌      | 272/752 [02:46<05:21,  1.49it/s]
[TriGF] Clustering keypoints:  36%|███▋      | 273/752 [02:47<04:53,  1.63it/s]
[TriGF] Clustering keypoints:  36%|███▋      | 274/752 [02:47<04:16,  1.86it/s]
[TriGF] Clustering keypoints:  37%|███▋      | 275/752 [02:48<04:01,  1.98it/s]
[TriGF] Clustering keypoints:  37%|███▋      | 276/752 [02:48<03:45,  2.11it/s]
[TriGF] Clustering keypoints:  37%|███▋      | 277/752 [02:48<03:28,  2.28it/s]
[TriGF] Clustering keypoints:  37%|███▋      | 278/752 [02:49<03:42,  2.13it/s]
[TriGF] Clustering keypoints:  37%|███▋      | 279/752 [02:49<03:13,  2.44it/s]
[TriGF] Clustering keypoints:  37%|███▋      | 280/752 [02:50<02:55,  2.69it/s]
[TriGF] Clustering keypoints:  37%|███▋      | 281/752 [02:50<02:49,  2.79it/s]
[TriGF] Clustering keypoints:  38%|███▊      | 282/752 [02:50<02:48,  2.78it/s]
[TriGF] Clustering keypoints:  38%|███▊      | 283/752 [02:51<02:39,  2.93it/s]
[TriGF] Clustering keypoints:  38%|███▊      | 284/752 [02:51<02:30,  3.11it/s]
[TriGF] Clustering keypoints:  38%|███▊      | 285/752 [02:51<02:38,  2.94it/s]
[TriGF] Clustering keypoints:  38%|███▊      | 286/752 [02:52<02:51,  2.72it/s]
[TriGF] Clustering keypoints:  38%|███▊      | 287/752 [02:52<02:49,  2.75it/s]
[TriGF] Clustering keypoints:  38%|███▊      | 288/752 [02:52<02:42,  2.86it/s]
[TriGF] Clustering keypoints:  38%|███▊      | 289/752 [02:53<02:34,  3.00it/s]
[TriGF] Clustering keypoints:  39%|███▊      | 290/752 [02:53<02:33,  3.02it/s]
[TriGF] Clustering keypoints:  39%|███▊      | 291/752 [02:53<02:31,  3.05it/s]
[TriGF] Clustering keypoints:  39%|███▉      | 292/752 [02:54<02:37,  2.92it/s]
[TriGF] Clustering keypoints:  39%|███▉      | 293/752 [02:55<04:50,  1.58it/s]
[TriGF] Clustering keypoints:  39%|███▉      | 294/752 [02:55<04:04,  1.87it/s]
[TriGF] Clustering keypoints:  39%|███▉      | 295/752 [02:56<03:39,  2.08it/s]
[TriGF] Clustering keypoints:  39%|███▉      | 296/752 [02:56<03:19,  2.29it/s]
[TriGF] Clustering keypoints:  39%|███▉      | 297/752 [02:56<03:10,  2.39it/s]
[TriGF] Clustering keypoints:  40%|███▉      | 298/752 [02:57<03:16,  2.31it/s]
[TriGF] Clustering keypoints:  40%|███▉      | 299/752 [02:57<03:33,  2.12it/s]
[TriGF] Clustering keypoints:  40%|███▉      | 300/752 [02:58<04:02,  1.87it/s]
[TriGF] Clustering keypoints:  40%|████      | 301/752 [02:58<03:44,  2.01it/s]
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[TriGF] Clustering keypoints:  60%|█████▉    | 448/752 [04:42<04:27,  1.14it/s]
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[TriGF] Clustering keypoints:  68%|██████▊   | 508/752 [05:17<02:10,  1.86it/s]
[TriGF] Clustering keypoints:  68%|██████▊   | 509/752 [05:18<01:59,  2.04it/s]
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[TriGF] Clustering keypoints:  68%|██████▊   | 511/752 [05:18<01:42,  2.34it/s]
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[TriGF] Clustering keypoints:  69%|██████▊   | 516/752 [05:21<01:40,  2.35it/s]
[TriGF] Clustering keypoints:  69%|██████▉   | 517/752 [05:21<01:54,  2.05it/s]
[TriGF] Clustering keypoints:  69%|██████▉   | 518/752 [05:22<01:44,  2.23it/s]
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[TriGF] Clustering keypoints:  69%|██████▉   | 520/752 [05:23<01:41,  2.29it/s]
[TriGF] Clustering keypoints:  69%|██████▉   | 521/752 [05:23<01:29,  2.57it/s]
[TriGF] Clustering keypoints:  69%|██████▉   | 522/752 [05:23<01:31,  2.50it/s]
[TriGF] Clustering keypoints:  70%|██████▉   | 523/752 [05:24<01:44,  2.20it/s]
[TriGF] Clustering keypoints:  70%|██████▉   | 524/752 [05:24<01:44,  2.18it/s]
[TriGF] Clustering keypoints:  70%|██████▉   | 525/752 [05:25<01:49,  2.08it/s]
[TriGF] Clustering keypoints:  70%|██████▉   | 526/752 [05:25<01:42,  2.21it/s]
[TriGF] Clustering keypoints:  70%|███████   | 527/752 [05:26<01:38,  2.28it/s]
[TriGF] Clustering keypoints:  70%|███████   | 528/752 [05:26<01:44,  2.15it/s]
[TriGF] Clustering keypoints:  70%|███████   | 529/752 [05:27<01:57,  1.90it/s]
[TriGF] Clustering keypoints:  70%|███████   | 530/752 [05:27<01:59,  1.85it/s]
[TriGF] Clustering keypoints:  71%|███████   | 531/752 [05:28<01:57,  1.88it/s]
[TriGF] Clustering keypoints:  71%|███████   | 532/752 [05:29<01:58,  1.86it/s]
[TriGF] Clustering keypoints:  71%|███████   | 533/752 [05:29<02:03,  1.77it/s]
[TriGF] Clustering keypoints:  71%|███████   | 534/752 [05:30<02:14,  1.63it/s]
[TriGF] Clustering keypoints:  71%|███████   | 535/752 [05:31<02:31,  1.43it/s]
[TriGF] Clustering keypoints:  71%|███████▏  | 536/752 [05:32<02:41,  1.33it/s]
[TriGF] Clustering keypoints:  71%|███████▏  | 537/752 [05:34<04:07,  1.15s/it]
[TriGF] Clustering keypoints:  72%|███████▏  | 538/752 [05:35<03:46,  1.06s/it]
[TriGF] Clustering keypoints:  72%|███████▏  | 539/752 [05:35<03:12,  1.10it/s]
[TriGF] Clustering keypoints:  72%|███████▏  | 540/752 [05:36<02:43,  1.29it/s]
[TriGF] Clustering keypoints:  72%|███████▏  | 541/752 [05:36<02:22,  1.48it/s]
[TriGF] Clustering keypoints:  72%|███████▏  | 542/752 [05:36<02:08,  1.64it/s]
[TriGF] Clustering keypoints:  72%|███████▏  | 543/752 [05:37<01:59,  1.75it/s]
[TriGF] Clustering keypoints:  72%|███████▏  | 544/752 [05:38<02:35,  1.34it/s]
[TriGF] Clustering keypoints:  72%|███████▏  | 545/752 [05:39<02:17,  1.51it/s]
[TriGF] Clustering keypoints:  73%|███████▎  | 546/752 [05:39<01:59,  1.73it/s]
[TriGF] Clustering keypoints:  73%|███████▎  | 547/752 [05:39<01:44,  1.96it/s]
[TriGF] Clustering keypoints:  73%|███████▎  | 548/752 [05:40<01:46,  1.91it/s]
[TriGF] Clustering keypoints:  73%|███████▎  | 549/752 [05:40<01:41,  2.00it/s]
[TriGF] Clustering keypoints:  73%|███████▎  | 550/752 [05:41<01:38,  2.05it/s]
[TriGF] Clustering keypoints:  73%|███████▎  | 551/752 [05:41<01:34,  2.13it/s]
[TriGF] Clustering keypoints:  73%|███████▎  | 552/752 [05:42<01:31,  2.19it/s]
[TriGF] Clustering keypoints:  74%|███████▎  | 553/752 [05:42<01:30,  2.20it/s]
[TriGF] Clustering keypoints:  74%|███████▎  | 554/752 [05:43<01:46,  1.86it/s]
[TriGF] Clustering keypoints:  74%|███████▍  | 555/752 [05:43<01:40,  1.97it/s]
[TriGF] Clustering keypoints:  74%|███████▍  | 556/752 [05:44<01:35,  2.05it/s]
[TriGF] Clustering keypoints:  74%|███████▍  | 557/752 [05:44<01:34,  2.07it/s]
[TriGF] Clustering keypoints:  74%|███████▍  | 558/752 [05:45<01:29,  2.17it/s]
[TriGF] Clustering keypoints:  74%|███████▍  | 559/752 [05:45<01:32,  2.09it/s]
[TriGF] Clustering keypoints:  74%|███████▍  | 560/752 [05:46<01:30,  2.13it/s]
[TriGF] Clustering keypoints:  75%|███████▍  | 561/752 [05:46<01:29,  2.13it/s]
[TriGF] Clustering keypoints:  75%|███████▍  | 562/752 [05:47<01:39,  1.90it/s]
[TriGF] Clustering keypoints:  75%|███████▍  | 563/752 [05:47<01:33,  2.01it/s]
[TriGF] Clustering keypoints:  75%|███████▌  | 564/752 [05:49<02:47,  1.12it/s]
[TriGF] Clustering keypoints:  75%|███████▌  | 565/752 [05:49<02:15,  1.38it/s]
[TriGF] Clustering keypoints:  75%|███████▌  | 566/752 [05:50<01:56,  1.59it/s]
[TriGF] Clustering keypoints:  75%|███████▌  | 567/752 [05:50<01:49,  1.68it/s]
[TriGF] Clustering keypoints:  76%|███████▌  | 568/752 [05:51<01:39,  1.84it/s]
[TriGF] Clustering keypoints:  76%|███████▌  | 569/752 [05:51<01:31,  2.00it/s]
[TriGF] Clustering keypoints:  76%|███████▌  | 570/752 [05:51<01:29,  2.04it/s]
[TriGF] Clustering keypoints:  76%|███████▌  | 571/752 [05:52<01:30,  2.00it/s]
[TriGF] Clustering keypoints:  76%|███████▌  | 572/752 [05:52<01:23,  2.16it/s]
[TriGF] Clustering keypoints:  76%|███████▌  | 573/752 [05:54<02:29,  1.20it/s]
[TriGF] Clustering keypoints:  76%|███████▋  | 574/752 [05:54<02:03,  1.44it/s]
[TriGF] Clustering keypoints:  76%|███████▋  | 575/752 [05:55<01:46,  1.66it/s]
[TriGF] Clustering keypoints:  77%|███████▋  | 576/752 [05:55<01:31,  1.92it/s]
[TriGF] Clustering keypoints:  77%|███████▋  | 577/752 [05:56<01:24,  2.06it/s]
[TriGF] Clustering keypoints:  77%|███████▋  | 578/752 [05:56<01:16,  2.28it/s]
[TriGF] Clustering keypoints:  77%|███████▋  | 579/752 [05:56<01:12,  2.38it/s]
[TriGF] Clustering keypoints:  77%|███████▋  | 580/752 [05:57<01:17,  2.21it/s]
[TriGF] Clustering keypoints:  77%|███████▋  | 581/752 [05:57<01:12,  2.37it/s]
[TriGF] Clustering keypoints:  77%|███████▋  | 582/752 [05:58<01:09,  2.44it/s]
[TriGF] Clustering keypoints:  78%|███████▊  | 583/752 [06:00<03:11,  1.14s/it]
[TriGF] Clustering keypoints:  78%|███████▊  | 584/752 [06:01<02:30,  1.11it/s]
[TriGF] Clustering keypoints:  78%|███████▊  | 585/752 [06:01<02:05,  1.33it/s]
[TriGF] Clustering keypoints:  78%|███████▊  | 586/752 [06:01<01:44,  1.59it/s]
[TriGF] Clustering keypoints:  78%|███████▊  | 587/752 [06:02<01:37,  1.70it/s]
[TriGF] Clustering keypoints:  78%|███████▊  | 588/752 [06:02<01:26,  1.90it/s]
[TriGF] Clustering keypoints:  78%|███████▊  | 589/752 [06:03<01:20,  2.02it/s]
[TriGF] Clustering keypoints:  78%|███████▊  | 590/752 [06:04<01:40,  1.61it/s]
[TriGF] Clustering keypoints:  79%|███████▊  | 591/752 [06:04<01:32,  1.74it/s]
[TriGF] Clustering keypoints:  79%|███████▊  | 592/752 [06:05<01:25,  1.87it/s]
[TriGF] Clustering keypoints:  79%|███████▉  | 593/752 [06:05<01:21,  1.95it/s]
[TriGF] Clustering keypoints:  79%|███████▉  | 594/752 [06:06<01:20,  1.97it/s]
[TriGF] Clustering keypoints:  79%|███████▉  | 595/752 [06:06<01:14,  2.11it/s]
[TriGF] Clustering keypoints:  79%|███████▉  | 596/752 [06:06<01:08,  2.28it/s]
[TriGF] Clustering keypoints:  79%|███████▉  | 597/752 [06:07<01:03,  2.44it/s]
[TriGF] Clustering keypoints:  80%|███████▉  | 598/752 [06:07<01:00,  2.54it/s]
[TriGF] Clustering keypoints:  80%|███████▉  | 599/752 [06:07<00:59,  2.58it/s]
[TriGF] Clustering keypoints:  80%|███████▉  | 600/752 [06:08<00:56,  2.71it/s]
[TriGF] Clustering keypoints:  80%|███████▉  | 601/752 [06:08<00:57,  2.63it/s]
[TriGF] Clustering keypoints:  80%|████████  | 602/752 [06:09<01:19,  1.88it/s]
[TriGF] Clustering keypoints:  80%|████████  | 603/752 [06:09<01:11,  2.09it/s]
[TriGF] Clustering keypoints:  80%|████████  | 604/752 [06:10<01:10,  2.10it/s]
[TriGF] Clustering keypoints:  80%|████████  | 605/752 [06:10<01:07,  2.18it/s]
[TriGF] Clustering keypoints:  81%|████████  | 606/752 [06:11<01:02,  2.35it/s]
[TriGF] Clustering keypoints:  81%|████████  | 607/752 [06:11<01:06,  2.17it/s]
[TriGF] Clustering keypoints:  81%|████████  | 608/752 [06:11<01:02,  2.29it/s]
[TriGF] Clustering keypoints:  81%|████████  | 609/752 [06:12<01:01,  2.31it/s]
[TriGF] Clustering keypoints:  81%|████████  | 610/752 [06:12<01:00,  2.36it/s]
[TriGF] Clustering keypoints:  81%|████████▏ | 611/752 [06:13<01:02,  2.27it/s]
[TriGF] Clustering keypoints:  81%|████████▏ | 612/752 [06:13<01:06,  2.09it/s]
[TriGF] Clustering keypoints:  82%|████████▏ | 613/752 [06:14<01:04,  2.16it/s]
[TriGF] Clustering keypoints:  82%|████████▏ | 614/752 [06:14<01:01,  2.24it/s]
[TriGF] Clustering keypoints:  82%|████████▏ | 615/752 [06:15<01:02,  2.20it/s]
[TriGF] Clustering keypoints:  82%|████████▏ | 616/752 [06:15<00:57,  2.37it/s]
[TriGF] Clustering keypoints:  82%|████████▏ | 617/752 [06:15<00:56,  2.39it/s]
[TriGF] Clustering keypoints:  82%|████████▏ | 618/752 [06:16<00:55,  2.40it/s]
[TriGF] Clustering keypoints:  82%|████████▏ | 619/752 [06:16<00:53,  2.49it/s]
[TriGF] Clustering keypoints:  82%|████████▏ | 620/752 [06:17<00:52,  2.50it/s]
[TriGF] Clustering keypoints:  83%|████████▎ | 621/752 [06:17<00:50,  2.58it/s]
[TriGF] Clustering keypoints:  83%|████████▎ | 622/752 [06:17<00:53,  2.43it/s]
[TriGF] Clustering keypoints:  83%|████████▎ | 623/752 [06:18<00:56,  2.28it/s]
[TriGF] Clustering keypoints:  83%|████████▎ | 624/752 [06:18<00:53,  2.39it/s]
[TriGF] Clustering keypoints:  83%|████████▎ | 625/752 [06:19<00:50,  2.50it/s]
[TriGF] Clustering keypoints:  83%|████████▎ | 626/752 [06:19<00:49,  2.53it/s]
[TriGF] Clustering keypoints:  83%|████████▎ | 627/752 [06:19<00:51,  2.43it/s]
[TriGF] Clustering keypoints:  84%|████████▎ | 628/752 [06:20<00:52,  2.37it/s]
[TriGF] Clustering keypoints:  84%|████████▎ | 629/752 [06:20<00:51,  2.40it/s]
[TriGF] Clustering keypoints:  84%|████████▍ | 630/752 [06:21<00:51,  2.37it/s]
[TriGF] Clustering keypoints:  84%|████████▍ | 631/752 [06:21<00:51,  2.36it/s]
[TriGF] Clustering keypoints:  84%|████████▍ | 632/752 [06:22<00:49,  2.42it/s]
[TriGF] Clustering keypoints:  84%|████████▍ | 633/752 [06:22<00:52,  2.25it/s]
[TriGF] Clustering keypoints:  84%|████████▍ | 634/752 [06:23<00:50,  2.32it/s]
[TriGF] Clustering keypoints:  84%|████████▍ | 635/752 [06:23<00:49,  2.38it/s]
[TriGF] Clustering keypoints:  85%|████████▍ | 636/752 [06:23<00:47,  2.43it/s]
[TriGF] Clustering keypoints:  85%|████████▍ | 637/752 [06:24<00:45,  2.52it/s]
[TriGF] Clustering keypoints:  85%|████████▍ | 638/752 [06:24<00:47,  2.42it/s]
[TriGF] Clustering keypoints:  85%|████████▍ | 639/752 [06:25<01:08,  1.64it/s]
[TriGF] Clustering keypoints:  85%|████████▌ | 640/752 [06:26<01:00,  1.84it/s]
[TriGF] Clustering keypoints:  85%|████████▌ | 641/752 [06:26<00:57,  1.92it/s]
[TriGF] Clustering keypoints:  85%|████████▌ | 642/752 [06:27<00:57,  1.92it/s]
[TriGF] Clustering keypoints:  86%|████████▌ | 643/752 [06:27<00:53,  2.03it/s]
[TriGF] Clustering keypoints:  86%|████████▌ | 644/752 [06:27<00:50,  2.15it/s]
[TriGF] Clustering keypoints:  86%|████████▌ | 645/752 [06:28<00:45,  2.37it/s]
[TriGF] Clustering keypoints:  86%|████████▌ | 646/752 [06:28<00:41,  2.53it/s]
[TriGF] Clustering keypoints:  86%|████████▌ | 647/752 [06:28<00:41,  2.54it/s]
[TriGF] Clustering keypoints:  86%|████████▌ | 648/752 [06:29<00:42,  2.45it/s]
[TriGF] Clustering keypoints:  86%|████████▋ | 649/752 [06:29<00:45,  2.26it/s]
[TriGF] Clustering keypoints:  86%|████████▋ | 650/752 [06:30<00:45,  2.23it/s]
[TriGF] Clustering keypoints:  87%|████████▋ | 651/752 [06:30<00:43,  2.34it/s]
[TriGF] Clustering keypoints:  87%|████████▋ | 652/752 [06:31<00:40,  2.45it/s]
[TriGF] Clustering keypoints:  87%|████████▋ | 653/752 [06:31<00:40,  2.44it/s]
[TriGF] Clustering keypoints:  87%|████████▋ | 654/752 [06:31<00:38,  2.53it/s]
[TriGF] Clustering keypoints:  87%|████████▋ | 655/752 [06:32<00:37,  2.59it/s]
[TriGF] Clustering keypoints:  87%|████████▋ | 656/752 [06:32<00:41,  2.31it/s]
[TriGF] Clustering keypoints:  87%|████████▋ | 657/752 [06:33<00:47,  2.02it/s]
[TriGF] Clustering keypoints:  88%|████████▊ | 658/752 [06:34<00:51,  1.82it/s]
[TriGF] Clustering keypoints:  88%|████████▊ | 659/752 [06:34<00:47,  1.97it/s]
[TriGF] Clustering keypoints:  88%|████████▊ | 660/752 [06:34<00:43,  2.11it/s]
[TriGF] Clustering keypoints:  88%|████████▊ | 661/752 [06:36<01:02,  1.46it/s]
[TriGF] Clustering keypoints:  88%|████████▊ | 662/752 [06:36<00:58,  1.55it/s]
[TriGF] Clustering keypoints:  88%|████████▊ | 663/752 [06:37<00:50,  1.77it/s]
[TriGF] Clustering keypoints:  88%|████████▊ | 664/752 [06:37<00:44,  2.00it/s]
[TriGF] Clustering keypoints:  88%|████████▊ | 665/752 [06:37<00:40,  2.16it/s]
[TriGF] Clustering keypoints:  89%|████████▊ | 666/752 [06:38<00:38,  2.24it/s]
[TriGF] Clustering keypoints:  89%|████████▊ | 667/752 [06:38<00:36,  2.36it/s]
[TriGF] Clustering keypoints:  89%|████████▉ | 668/752 [06:38<00:34,  2.43it/s]
[TriGF] Clustering keypoints:  89%|████████▉ | 669/752 [06:39<00:32,  2.55it/s]
[TriGF] Clustering keypoints:  89%|████████▉ | 670/752 [06:39<00:35,  2.30it/s]
[TriGF] Clustering keypoints:  89%|████████▉ | 671/752 [06:40<00:34,  2.37it/s]
[TriGF] Clustering keypoints:  89%|████████▉ | 672/752 [06:40<00:33,  2.38it/s]
[TriGF] Clustering keypoints:  89%|████████▉ | 673/752 [06:40<00:32,  2.40it/s]
[TriGF] Clustering keypoints:  90%|████████▉ | 674/752 [06:41<00:32,  2.37it/s]
[TriGF] Clustering keypoints:  90%|████████▉ | 675/752 [06:41<00:33,  2.31it/s]
[TriGF] Clustering keypoints:  90%|████████▉ | 676/752 [06:42<00:34,  2.18it/s]
[TriGF] Clustering keypoints:  90%|█████████ | 677/752 [06:42<00:34,  2.18it/s]
[TriGF] Clustering keypoints:  90%|█████████ | 678/752 [06:43<00:31,  2.37it/s]
[TriGF] Clustering keypoints:  90%|█████████ | 679/752 [06:43<00:30,  2.41it/s]
[TriGF] Clustering keypoints:  90%|█████████ | 680/752 [06:43<00:28,  2.56it/s]
[TriGF] Clustering keypoints:  91%|█████████ | 681/752 [06:44<00:27,  2.57it/s]
[TriGF] Clustering keypoints:  91%|█████████ | 682/752 [06:44<00:26,  2.59it/s]
[TriGF] Clustering keypoints:  91%|█████████ | 683/752 [06:45<00:27,  2.55it/s]
[TriGF] Clustering keypoints:  91%|█████████ | 684/752 [06:45<00:27,  2.45it/s]
[TriGF] Clustering keypoints:  91%|█████████ | 685/752 [06:45<00:26,  2.56it/s]
[TriGF] Clustering keypoints:  91%|█████████ | 686/752 [06:46<00:24,  2.71it/s]
[TriGF] Clustering keypoints:  91%|█████████▏| 687/752 [06:49<01:21,  1.26s/it]
[TriGF] Clustering keypoints:  91%|█████████▏| 688/752 [06:50<01:07,  1.06s/it]
[TriGF] Clustering keypoints:  92%|█████████▏| 689/752 [06:50<00:59,  1.06it/s]
[TriGF] Clustering keypoints:  92%|█████████▏| 690/752 [06:51<01:00,  1.02it/s]
[TriGF] Clustering keypoints:  92%|█████████▏| 691/752 [06:57<02:16,  2.23s/it]
[TriGF] Clustering keypoints:  92%|█████████▏| 692/752 [07:00<02:41,  2.69s/it]
[TriGF] Clustering keypoints:  92%|█████████▏| 693/752 [07:01<02:05,  2.13s/it]
[TriGF] Clustering keypoints:  92%|█████████▏| 694/752 [07:01<01:32,  1.59s/it]
[TriGF] Clustering keypoints:  92%|█████████▏| 695/752 [07:02<01:10,  1.23s/it]
[TriGF] Clustering keypoints:  93%|█████████▎| 696/752 [07:02<00:56,  1.00s/it]
[TriGF] Clustering keypoints:  93%|█████████▎| 697/752 [07:03<00:45,  1.21it/s]
[TriGF] Clustering keypoints:  93%|█████████▎| 698/752 [07:03<00:36,  1.47it/s]
[TriGF] Clustering keypoints:  93%|█████████▎| 699/752 [07:03<00:29,  1.77it/s]
[TriGF] Clustering keypoints:  93%|█████████▎| 700/752 [07:04<00:26,  1.96it/s]
[TriGF] Clustering keypoints:  93%|█████████▎| 701/752 [07:04<00:23,  2.17it/s]
[TriGF] Clustering keypoints:  93%|█████████▎| 702/752 [07:04<00:21,  2.35it/s]
[TriGF] Clustering keypoints:  93%|█████████▎| 703/752 [07:05<00:19,  2.55it/s]
[TriGF] Clustering keypoints:  94%|█████████▎| 704/752 [07:05<00:17,  2.71it/s]
[TriGF] Clustering keypoints:  94%|█████████▍| 705/752 [07:05<00:16,  2.83it/s]
[TriGF] Clustering keypoints:  94%|█████████▍| 706/752 [07:06<00:16,  2.82it/s]
[TriGF] Clustering keypoints:  94%|█████████▍| 707/752 [07:06<00:15,  2.83it/s]
[TriGF] Clustering keypoints:  94%|█████████▍| 708/752 [07:06<00:15,  2.83it/s]
[TriGF] Clustering keypoints:  94%|█████████▍| 709/752 [07:07<00:15,  2.73it/s]
[TriGF] Clustering keypoints:  94%|█████████▍| 710/752 [07:07<00:15,  2.66it/s]
[TriGF] Clustering keypoints:  95%|█████████▍| 711/752 [07:08<00:18,  2.16it/s]
[TriGF] Clustering keypoints:  95%|█████████▍| 712/752 [07:08<00:18,  2.20it/s]
[TriGF] Clustering keypoints:  95%|█████████▍| 713/752 [07:09<00:18,  2.12it/s]
[TriGF] Clustering keypoints:  95%|█████████▍| 714/752 [07:10<00:20,  1.88it/s]
[TriGF] Clustering keypoints:  95%|█████████▌| 715/752 [07:10<00:23,  1.58it/s]
[TriGF] Clustering keypoints:  95%|█████████▌| 716/752 [07:11<00:22,  1.61it/s]
[TriGF] Clustering keypoints:  95%|█████████▌| 717/752 [07:12<00:21,  1.66it/s]
[TriGF] Clustering keypoints:  95%|█████████▌| 718/752 [07:12<00:18,  1.82it/s]
[TriGF] Clustering keypoints:  96%|█████████▌| 719/752 [07:12<00:16,  2.03it/s]
[TriGF] Clustering keypoints:  96%|█████████▌| 720/752 [07:14<00:25,  1.27it/s]
[TriGF] Clustering keypoints:  96%|█████████▌| 721/752 [07:14<00:20,  1.48it/s]
[TriGF] Clustering keypoints:  96%|█████████▌| 722/752 [07:15<00:17,  1.67it/s]
[TriGF] Clustering keypoints:  96%|█████████▌| 723/752 [07:15<00:16,  1.81it/s]
[TriGF] Clustering keypoints:  96%|█████████▋| 724/752 [07:15<00:14,  1.96it/s]
[TriGF] Clustering keypoints:  96%|█████████▋| 725/752 [07:16<00:12,  2.11it/s]
[TriGF] Clustering keypoints:  97%|█████████▋| 726/752 [07:16<00:11,  2.25it/s]
[TriGF] Clustering keypoints:  97%|█████████▋| 727/752 [07:17<00:11,  2.23it/s]
[TriGF] Clustering keypoints:  97%|█████████▋| 728/752 [07:17<00:11,  2.10it/s]
[TriGF] Clustering keypoints:  97%|█████████▋| 729/752 [07:18<00:11,  1.95it/s]
[TriGF] Clustering keypoints:  97%|█████████▋| 730/752 [07:19<00:12,  1.78it/s]
[TriGF] Clustering keypoints:  97%|█████████▋| 731/752 [07:19<00:13,  1.51it/s]
[TriGF] Clustering keypoints:  97%|█████████▋| 732/752 [07:20<00:13,  1.49it/s]
[TriGF] Clustering keypoints:  97%|█████████▋| 733/752 [07:21<00:13,  1.38it/s]
[TriGF] Clustering keypoints:  98%|█████████▊| 734/752 [07:22<00:15,  1.17it/s]
[TriGF] Clustering keypoints:  98%|█████████▊| 735/752 [07:23<00:13,  1.25it/s]
[TriGF] Clustering keypoints:  98%|█████████▊| 736/752 [07:24<00:13,  1.16it/s]
[TriGF] Clustering keypoints:  98%|█████████▊| 737/752 [07:25<00:14,  1.04it/s]
[TriGF] Clustering keypoints:  98%|█████████▊| 738/752 [07:26<00:14,  1.04s/it]
[TriGF] Clustering keypoints:  98%|█████████▊| 739/752 [07:27<00:14,  1.11s/it]
[TriGF] Clustering keypoints:  98%|█████████▊| 740/752 [07:29<00:13,  1.12s/it]
[TriGF] Clustering keypoints:  99%|█████████▊| 741/752 [07:30<00:13,  1.26s/it]
[TriGF] Clustering keypoints:  99%|█████████▊| 742/752 [07:31<00:12,  1.26s/it]
[TriGF] Clustering keypoints:  99%|█████████▉| 743/752 [07:33<00:11,  1.27s/it]
[TriGF] Clustering keypoints:  99%|█████████▉| 744/752 [07:34<00:09,  1.25s/it]
[TriGF] Clustering keypoints:  99%|█████████▉| 745/752 [07:35<00:08,  1.23s/it]
[TriGF] Clustering keypoints:  99%|█████████▉| 746/752 [07:36<00:07,  1.22s/it]
[TriGF] Clustering keypoints:  99%|█████████▉| 747/752 [07:37<00:05,  1.20s/it]
[TriGF] Clustering keypoints:  99%|█████████▉| 748/752 [07:39<00:04,  1.18s/it]
[TriGF] Clustering keypoints: 100%|█████████▉| 749/752 [07:40<00:03,  1.19s/it]
[TriGF] Clustering keypoints: 100%|█████████▉| 750/752 [07:44<00:04,  2.14s/it]
[TriGF] Clustering keypoints: 100%|█████████▉| 751/752 [07:45<00:01,  1.86s/it]
[TriGF] Clustering keypoints: 100%|██████████| 752/752 [07:46<00:00,  1.56s/it]
[TriGF] Clustering keypoints: 100%|██████████| 752/752 [07:46<00:00,  1.61it/s][TriGF] cuML unavailable (CuPy/NumPy conflict?), using sklearn DBSCAN (CPU)
+MCD keypoint clustering
+cluster_preset=sgpr_sk
+sequence=ntu_day_01  frames=6009
+out_dir=/home/data/CYD/data/MCD/mcd_cluster_ntu_day01_sgpr
+SGPR eps from get_cluster_config (compressed 1–19); min_samples default 30; trunk(16)/pole(18)/traffic-sign(19)->10
+
+Total keypoint rows (sum over frames): 80236
+Per-frame:
+  cloud_0011: n_keypoints=14
+  cloud_0012: n_keypoints=13
+  cloud_0013: n_keypoints=11
+  cloud_0014: n_keypoints=14
+  cloud_0015: n_keypoints=11
+  cloud_0016: n_keypoints=14
+  cloud_0017: n_keypoints=12
+  cloud_0018: n_keypoints=13
+  cloud_0019: n_keypoints=13
+  cloud_0020: n_keypoints=13
+  cloud_0021: n_keypoints=12
+  cloud_0022: n_keypoints=12
+  cloud_0023: n_keypoints=13
+  cloud_0024: n_keypoints=13
+  cloud_0025: n_keypoints=14
+  cloud_0026: n_keypoints=13
+  cloud_0027: n_keypoints=12
+  cloud_0028: n_keypoints=14
+  cloud_0029: n_keypoints=13
+  cloud_0030: n_keypoints=14
+  cloud_0031: n_keypoints=10
+  cloud_0032: n_keypoints=14
+  cloud_0033: n_keypoints=11
+  cloud_0034: n_keypoints=13
+  cloud_0035: n_keypoints=16
+  cloud_0036: n_keypoints=12
+  cloud_0037: n_keypoints=14
+  cloud_0038: n_keypoints=15
+  cloud_0039: n_keypoints=12
+  cloud_0040: n_keypoints=14
+  cloud_0041: n_keypoints=13
+  cloud_0042: n_keypoints=14
+  cloud_0043: n_keypoints=14
+  cloud_0044: n_keypoints=12
+  cloud_0045: n_keypoints=14
+  cloud_0046: n_keypoints=11
+  cloud_0047: n_keypoints=15
+  cloud_0048: n_keypoints=16
+  cloud_0049: n_keypoints=14
+  cloud_0050: n_keypoints=14
+  cloud_0051: n_keypoints=11
+  cloud_0052: n_keypoints=12
+  cloud_0053: n_keypoints=17
+  cloud_0054: n_keypoints=12
+  cloud_0055: n_keypoints=9
+  cloud_0056: n_keypoints=19
+  cloud_0057: n_keypoints=8
+  cloud_0058: n_keypoints=14
+  cloud_0059: n_keypoints=8
+  cloud_0060: n_keypoints=12
+  cloud_0061: n_keypoints=13
+  cloud_0062: n_keypoints=7
+  cloud_0063: n_keypoints=12
+  cloud_0064: n_keypoints=15
+  cloud_0065: n_keypoints=11
+  cloud_0066: n_keypoints=11
+  cloud_0067: n_keypoints=11
+  cloud_0068: n_keypoints=19
+  cloud_0069: n_keypoints=12
+  cloud_0070: n_keypoints=13
+  cloud_0071: n_keypoints=18
+  cloud_0072: n_keypoints=20
+  cloud_0073: n_keypoints=22
+  cloud_0074: n_keypoints=18
+  cloud_0075: n_keypoints=19
+  cloud_0076: n_keypoints=19
+  cloud_0077: n_keypoints=15
+  cloud_0078: n_keypoints=19
+  cloud_0079: n_keypoints=18
+  cloud_0080: n_keypoints=16
+  cloud_0081: n_keypoints=21
+  cloud_0082: n_keypoints=18
+  cloud_0083: n_keypoints=22
+  cloud_0084: n_keypoints=22
+  cloud_0085: n_keypoints=15
+  cloud_0086: n_keypoints=18
+  cloud_0087: n_keypoints=24
+  cloud_0088: n_keypoints=15
+  cloud_0089: n_keypoints=21
+  cloud_0090: n_keypoints=17
+  cloud_0091: n_keypoints=16
+  cloud_0092: n_keypoints=23
+  cloud_0093: n_keypoints=15
+  cloud_0094: n_keypoints=17
+  cloud_0095: n_keypoints=20
+  cloud_0096: n_keypoints=16
+  cloud_0097: n_keypoints=22
+  cloud_0098: n_keypoints=17
+  cloud_0099: n_keypoints=17
+  cloud_0100: n_keypoints=17
+  cloud_0101: n_keypoints=13
+  cloud_0102: n_keypoints=18
+  cloud_0103: n_keypoints=21
+  cloud_0104: n_keypoints=18
+  cloud_0105: n_keypoints=18
+  cloud_0106: n_keypoints=12
+  cloud_0107: n_keypoints=21
+  cloud_0108: n_keypoints=21
+  cloud_0109: n_keypoints=16
+  cloud_0110: n_keypoints=17
+  cloud_0111: n_keypoints=15
+  cloud_0112: n_keypoints=15
+  cloud_0113: n_keypoints=14
+  cloud_0114: n_keypoints=13
+  cloud_0115: n_keypoints=12
+  cloud_0116: n_keypoints=11
+  cloud_0117: n_keypoints=13
+  cloud_0118: n_keypoints=13
+  cloud_0119: n_keypoints=10
+  cloud_0120: n_keypoints=16
+  cloud_0121: n_keypoints=11
+  cloud_0122: n_keypoints=16
+  cloud_0123: n_keypoints=20
+  cloud_0124: n_keypoints=18
+  cloud_0125: n_keypoints=17
+  cloud_0126: n_keypoints=20
+  cloud_0127: n_keypoints=21
+  cloud_0128: n_keypoints=24
+  cloud_0129: n_keypoints=18
+  cloud_0130: n_keypoints=14
+  cloud_0131: n_keypoints=16
+  cloud_0132: n_keypoints=17
+  cloud_0133: n_keypoints=12
+  cloud_0134: n_keypoints=16
+  cloud_0135: n_keypoints=21
+  cloud_0136: n_keypoints=20
+  cloud_0137: n_keypoints=19
+  cloud_0138: n_keypoints=17
+  cloud_0139: n_keypoints=20
+  cloud_0140: n_keypoints=19
+  cloud_0141: n_keypoints=18
+  cloud_0142: n_keypoints=18
+  cloud_0143: n_keypoints=18
+  cloud_0144: n_keypoints=20
+  cloud_0145: n_keypoints=16
+  cloud_0146: n_keypoints=20
+  cloud_0147: n_keypoints=20
+  cloud_0148: n_keypoints=17
+  cloud_0149: n_keypoints=18
+  cloud_0150: n_keypoints=14
+  cloud_0151: n_keypoints=17
+  cloud_0152: n_keypoints=19
+  cloud_0153: n_keypoints=19
+  cloud_0154: n_keypoints=18
+  cloud_0155: n_keypoints=14
+  cloud_0156: n_keypoints=19
+  cloud_0157: n_keypoints=18
+  cloud_0158: n_keypoints=18
+  cloud_0159: n_keypoints=17
+  cloud_0160: n_keypoints=15
+  cloud_0161: n_keypoints=15
+  cloud_0162: n_keypoints=12
+  cloud_0163: n_keypoints=16
+  cloud_0164: n_keypoints=16
+  cloud_0165: n_keypoints=13
+  cloud_0166: n_keypoints=20
+  cloud_0167: n_keypoints=16
+  cloud_0168: n_keypoints=16
+  cloud_0169: n_keypoints=14
+  cloud_0170: n_keypoints=13
+  cloud_0171: n_keypoints=13
+  cloud_0172: n_keypoints=15
+  cloud_0173: n_keypoints=15
+  cloud_0174: n_keypoints=12
+  cloud_0175: n_keypoints=18
+  cloud_0176: n_keypoints=16
+  cloud_0177: n_keypoints=17
+  cloud_0178: n_keypoints=16
+  cloud_0179: n_keypoints=17
+  cloud_0180: n_keypoints=15
+  cloud_0181: n_keypoints=17
+  cloud_0182: n_keypoints=14
+  cloud_0183: n_keypoints=14
+  cloud_0184: n_keypoints=20
+  cloud_0185: n_keypoints=13
+  cloud_0186: n_keypoints=16
+  cloud_0187: n_keypoints=15
+  cloud_0188: n_keypoints=15
+  cloud_0189: n_keypoints=16
+  cloud_0190: n_keypoints=15
+  cloud_0191: n_keypoints=15
+  cloud_0192: n_keypoints=15
+  cloud_0193: n_keypoints=17
+  cloud_0194: n_keypoints=18
+  cloud_0195: n_keypoints=17
+  cloud_0196: n_keypoints=16
+  cloud_0197: n_keypoints=16
+  cloud_0198: n_keypoints=17
+  cloud_0199: n_keypoints=18
+  cloud_0200: n_keypoints=18
+  cloud_0201: n_keypoints=17
+  cloud_0202: n_keypoints=19
+  cloud_0203: n_keypoints=20
+  cloud_0204: n_keypoints=19
+  cloud_0205: n_keypoints=17
+  cloud_0206: n_keypoints=19
+  cloud_0207: n_keypoints=20
+  cloud_0208: n_keypoints=18
+  cloud_0209: n_keypoints=14
+  cloud_0210: n_keypoints=18
+  cloud_0211: n_keypoints=21
+  cloud_0212: n_keypoints=20
+  cloud_0213: n_keypoints=18
+  cloud_0214: n_keypoints=21
+  cloud_0215: n_keypoints=22
+  cloud_0216: n_keypoints=22
+  cloud_0217: n_keypoints=20
+  cloud_0218: n_keypoints=20
+  cloud_0219: n_keypoints=22
+  cloud_0220: n_keypoints=22
+  cloud_0221: n_keypoints=19
+  cloud_0222: n_keypoints=19
+  cloud_0223: n_keypoints=21
+  cloud_0224: n_keypoints=23
+  cloud_0225: n_keypoints=25
+  cloud_0226: n_keypoints=18
+  cloud_0227: n_keypoints=22
+  cloud_0228: n_keypoints=24
+  cloud_0229: n_keypoints=22
+  cloud_0230: n_keypoints=25
+  cloud_0231: n_keypoints=23
+  cloud_0232: n_keypoints=24
+  cloud_0233: n_keypoints=26
+  cloud_0234: n_keypoints=19
+  cloud_0235: n_keypoints=20
+  cloud_0236: n_keypoints=16
+  cloud_0237: n_keypoints=15
+  cloud_0238: n_keypoints=24
+  cloud_0239: n_keypoints=19
+  cloud_0240: n_keypoints=15
+  cloud_0241: n_keypoints=16
+  cloud_0242: n_keypoints=12
+  cloud_0243: n_keypoints=15
+  cloud_0244: n_keypoints=16
+  cloud_0245: n_keypoints=12
+  cloud_0246: n_keypoints=17
+  cloud_0247: n_keypoints=17
+  cloud_0248: n_keypoints=23
+  cloud_0249: n_keypoints=20
+  cloud_0250: n_keypoints=18
+  cloud_0251: n_keypoints=16
+  cloud_0252: n_keypoints=12
+  cloud_0253: n_keypoints=14
+  cloud_0254: n_keypoints=17
+  cloud_0255: n_keypoints=15
+  cloud_0256: n_keypoints=20
+  cloud_0257: n_keypoints=15
+  cloud_0258: n_keypoints=19
+  cloud_0259: n_keypoints=17
+  cloud_0260: n_keypoints=13
+  cloud_0261: n_keypoints=17
+  cloud_0262: n_keypoints=18
+  cloud_0263: n_keypoints=21
+  cloud_0264: n_keypoints=16
+  cloud_0265: n_keypoints=11
+  cloud_0266: n_keypoints=13
+  cloud_0267: n_keypoints=13
+  cloud_0268: n_keypoints=14
+  cloud_0269: n_keypoints=15
+  cloud_0270: n_keypoints=9
+  cloud_0271: n_keypoints=15
+  cloud_0272: n_keypoints=11
+  cloud_0273: n_keypoints=11
+  cloud_0274: n_keypoints=13
+  cloud_0275: n_keypoints=13
+  cloud_0276: n_keypoints=11
+  cloud_0277: n_keypoints=11
+  cloud_0278: n_keypoints=10
+  cloud_0279: n_keypoints=11
+  cloud_0280: n_keypoints=9
+  cloud_0281: n_keypoints=11
+  cloud_0282: n_keypoints=10
+  cloud_0283: n_keypoints=11
+  cloud_0284: n_keypoints=12
+  cloud_0285: n_keypoints=12
+  cloud_0286: n_keypoints=9
+  cloud_0287: n_keypoints=11
+  cloud_0288: n_keypoints=9
+  cloud_0289: n_keypoints=10
+  cloud_0290: n_keypoints=13
+  cloud_0291: n_keypoints=9
+  cloud_0292: n_keypoints=13
+  cloud_0293: n_keypoints=12
+  cloud_0294: n_keypoints=14
+  cloud_0295: n_keypoints=16
+  cloud_0296: n_keypoints=14
+  cloud_0297: n_keypoints=13
+  cloud_0298: n_keypoints=14
+  cloud_0299: n_keypoints=16
+  cloud_0300: n_keypoints=15
+  cloud_0301: n_keypoints=17
+  cloud_0302: n_keypoints=11
+  cloud_0303: n_keypoints=16
+  cloud_0304: n_keypoints=14
+  cloud_0305: n_keypoints=10
+  cloud_0306: n_keypoints=11
+  cloud_0307: n_keypoints=9
+  cloud_0308: n_keypoints=9
+  cloud_0309: n_keypoints=13
+  cloud_0310: n_keypoints=10
+  cloud_0311: n_keypoints=9
+  cloud_0312: n_keypoints=12
+  cloud_0313: n_keypoints=11
+  cloud_0314: n_keypoints=6
+  cloud_0315: n_keypoints=10
+  cloud_0316: n_keypoints=7
+  cloud_0317: n_keypoints=11
+  cloud_0318: n_keypoints=9
+  cloud_0319: n_keypoints=8
+  cloud_0320: n_keypoints=11
+  cloud_0321: n_keypoints=13
+  cloud_0322: n_keypoints=9
+  cloud_0323: n_keypoints=9
+  cloud_0324: n_keypoints=9
+  cloud_0325: n_keypoints=11
+  cloud_0326: n_keypoints=11
+  cloud_0327: n_keypoints=9
+  cloud_0328: n_keypoints=8
+  cloud_0329: n_keypoints=7
+  cloud_0330: n_keypoints=7
+  cloud_0331: n_keypoints=9
+  cloud_0332: n_keypoints=8
+  cloud_0333: n_keypoints=6
+  cloud_0334: n_keypoints=8
+  cloud_0335: n_keypoints=10
+  cloud_0336: n_keypoints=8
+  cloud_0337: n_keypoints=11
+  cloud_0338: n_keypoints=11
+  cloud_0339: n_keypoints=9
+  cloud_0340: n_keypoints=13
+  cloud_0341: n_keypoints=6
+  cloud_0342: n_keypoints=13
+  cloud_0343: n_keypoints=12
+  cloud_0344: n_keypoints=10
+  cloud_0345: n_keypoints=11
+  cloud_0346: n_keypoints=9
+  cloud_0347: n_keypoints=11
+  cloud_0348: n_keypoints=13
+  cloud_0349: n_keypoints=13
+  cloud_0350: n_keypoints=17
+  cloud_0351: n_keypoints=16
+  cloud_0352: n_keypoints=12
+  cloud_0353: n_keypoints=11
+  cloud_0354: n_keypoints=9
+  cloud_0355: n_keypoints=14
+  cloud_0356: n_keypoints=11
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+  cloud_0900: n_keypoints=10
+  cloud_0901: n_keypoints=12
+  cloud_0902: n_keypoints=13
+  cloud_0903: n_keypoints=12
+  cloud_0904: n_keypoints=12
+  cloud_0905: n_keypoints=12
+  cloud_0906: n_keypoints=14
+  cloud_0907: n_keypoints=13
+  cloud_0908: n_keypoints=13
+  cloud_0909: n_keypoints=16
+  cloud_0910: n_keypoints=9
+  cloud_0911: n_keypoints=12
+  cloud_0912: n_keypoints=12
+  cloud_0913: n_keypoints=10
+  cloud_0914: n_keypoints=12
+  cloud_0915: n_keypoints=8
+  cloud_0916: n_keypoints=11
+  cloud_0917: n_keypoints=15
+  cloud_0918: n_keypoints=10
+  cloud_0919: n_keypoints=11
+  cloud_0920: n_keypoints=17
+  cloud_0921: n_keypoints=12
+  cloud_0922: n_keypoints=13
+  cloud_0923: n_keypoints=13
+  cloud_0924: n_keypoints=12
+  cloud_0925: n_keypoints=17
+  cloud_0926: n_keypoints=17
+  cloud_0927: n_keypoints=16
+  cloud_0928: n_keypoints=11
+  cloud_0929: n_keypoints=18
+  cloud_0930: n_keypoints=18
+  cloud_0931: n_keypoints=11
+  cloud_0932: n_keypoints=17
+  cloud_0933: n_keypoints=15
+  cloud_0934: n_keypoints=15
+  cloud_0935: n_keypoints=14
+  cloud_0936: n_keypoints=13
+  cloud_0937: n_keypoints=17
+  cloud_0938: n_keypoints=16
+  cloud_0939: n_keypoints=19
+  cloud_0940: n_keypoints=20
+  cloud_0941: n_keypoints=16
+  cloud_0942: n_keypoints=14
+  cloud_0943: n_keypoints=20
+  cloud_0944: n_keypoints=9
+  cloud_0945: n_keypoints=14
+  cloud_0946: n_keypoints=17
+  cloud_0947: n_keypoints=16
+  cloud_0948: n_keypoints=16
+  cloud_0949: n_keypoints=11
+  cloud_0950: n_keypoints=16
+  cloud_0951: n_keypoints=11
+  cloud_0952: n_keypoints=15
+  cloud_0953: n_keypoints=16
+  cloud_0954: n_keypoints=11
+  cloud_0955: n_keypoints=17
+  cloud_0956: n_keypoints=11
+  cloud_0957: n_keypoints=12
+  cloud_0958: n_keypoints=17
+  cloud_0959: n_keypoints=13
+  cloud_0960: n_keypoints=16
+  cloud_0961: n_keypoints=13
+  cloud_0962: n_keypoints=14
+  cloud_0963: n_keypoints=19
+  cloud_0964: n_keypoints=18
+  cloud_0965: n_keypoints=17
+  cloud_0966: n_keypoints=19
+  cloud_0967: n_keypoints=15
+  cloud_0968: n_keypoints=17
+  cloud_0969: n_keypoints=19
+  cloud_0970: n_keypoints=16
+  cloud_0971: n_keypoints=19
+  cloud_0972: n_keypoints=16
+  cloud_0973: n_keypoints=15
+  cloud_0974: n_keypoints=15
+  cloud_0975: n_keypoints=15
+  cloud_0976: n_keypoints=15
+  cloud_0977: n_keypoints=15
+  cloud_0978: n_keypoints=11
+  cloud_0979: n_keypoints=17
+  cloud_0980: n_keypoints=13
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+  cloud_0982: n_keypoints=17
+  cloud_0983: n_keypoints=16
+  cloud_0984: n_keypoints=15
+  cloud_0985: n_keypoints=15
+  cloud_0986: n_keypoints=16
+  cloud_0987: n_keypoints=14
+  cloud_0988: n_keypoints=14
+  cloud_0989: n_keypoints=24
+  cloud_0990: n_keypoints=22
+  cloud_0991: n_keypoints=25
+  cloud_0992: n_keypoints=20
+  cloud_0993: n_keypoints=22
+  cloud_0994: n_keypoints=23
+  cloud_0995: n_keypoints=18
+  cloud_0996: n_keypoints=14
+  cloud_0997: n_keypoints=14
+  cloud_0998: n_keypoints=14
+  cloud_0999: n_keypoints=15
+  cloud_1000: n_keypoints=18
+  cloud_1001: n_keypoints=20
+  cloud_1002: n_keypoints=19
+  cloud_1003: n_keypoints=19
+  cloud_1004: n_keypoints=18
+  cloud_1005: n_keypoints=21
+  cloud_1006: n_keypoints=15
+  cloud_1007: n_keypoints=16
+  cloud_1008: n_keypoints=16
+  cloud_1009: n_keypoints=11
+  cloud_1010: n_keypoints=13
+  cloud_1011: n_keypoints=14
+  cloud_1012: n_keypoints=14
+  cloud_1013: n_keypoints=17
+  cloud_1014: n_keypoints=14
+  cloud_1015: n_keypoints=9
+  cloud_1016: n_keypoints=7
+  cloud_1017: n_keypoints=8
+  cloud_1018: n_keypoints=11
+  cloud_1019: n_keypoints=10
+  cloud_1020: n_keypoints=13
+  cloud_1021: n_keypoints=17
+  cloud_1022: n_keypoints=16
+  cloud_1023: n_keypoints=17
+  cloud_1024: n_keypoints=17
+  cloud_1025: n_keypoints=19
+  cloud_1026: n_keypoints=15
+  cloud_1027: n_keypoints=14
+  cloud_1028: n_keypoints=13
+  cloud_1029: n_keypoints=15
+  cloud_1030: n_keypoints=20
+  cloud_1031: n_keypoints=20
+  cloud_1032: n_keypoints=21
+  cloud_1033: n_keypoints=16
+  cloud_1034: n_keypoints=19
+  cloud_1035: n_keypoints=19
+  cloud_1036: n_keypoints=16
+  cloud_1037: n_keypoints=19
+  cloud_1038: n_keypoints=15
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+  cloud_1042: n_keypoints=15
+  cloud_1043: n_keypoints=19
+  cloud_1044: n_keypoints=14
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+  cloud_1046: n_keypoints=15
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+  cloud_1048: n_keypoints=19
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+  cloud_1050: n_keypoints=19
+  cloud_1051: n_keypoints=12
+  cloud_1052: n_keypoints=15
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+  cloud_1055: n_keypoints=20
+  cloud_1056: n_keypoints=19
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+  cloud_1059: n_keypoints=14
+  cloud_1060: n_keypoints=14
+  cloud_1061: n_keypoints=17
+  cloud_1062: n_keypoints=13
+  cloud_1063: n_keypoints=16
+  cloud_1064: n_keypoints=12
+  cloud_1065: n_keypoints=17
+  cloud_1066: n_keypoints=18
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+  cloud_1069: n_keypoints=15
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+  cloud_1071: n_keypoints=22
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+  cloud_1073: n_keypoints=17
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+  cloud_1078: n_keypoints=16
+  cloud_1079: n_keypoints=20
+  cloud_1080: n_keypoints=21
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+  cloud_1082: n_keypoints=17
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+  cloud_1086: n_keypoints=13
+  cloud_1087: n_keypoints=12
+  cloud_1088: n_keypoints=9
+  cloud_1089: n_keypoints=13
+  cloud_1090: n_keypoints=10
+  cloud_1091: n_keypoints=15
+  cloud_1092: n_keypoints=14
+  cloud_1093: n_keypoints=11
+  cloud_1094: n_keypoints=14
+  cloud_1095: n_keypoints=8
+  cloud_1096: n_keypoints=16
+  cloud_1097: n_keypoints=17
+  cloud_1098: n_keypoints=11
+  cloud_1099: n_keypoints=13
+  cloud_1100: n_keypoints=12
+  cloud_1101: n_keypoints=12
+  cloud_1102: n_keypoints=11
+  cloud_1103: n_keypoints=12
+  cloud_1104: n_keypoints=15
+  cloud_1105: n_keypoints=17
+  cloud_1106: n_keypoints=16
+  cloud_1107: n_keypoints=16
+  cloud_1108: n_keypoints=12
+  cloud_1109: n_keypoints=14
+  cloud_1110: n_keypoints=15
+  cloud_1111: n_keypoints=13
+  cloud_1112: n_keypoints=17
+  cloud_1113: n_keypoints=12
+  cloud_1114: n_keypoints=15
+  cloud_1115: n_keypoints=15
+  cloud_1116: n_keypoints=14
+  cloud_1117: n_keypoints=13
+  cloud_1118: n_keypoints=14
+  cloud_1119: n_keypoints=13
+  cloud_1120: n_keypoints=13
+  cloud_1121: n_keypoints=10
+  cloud_1122: n_keypoints=13
+  cloud_1123: n_keypoints=11
+  cloud_1124: n_keypoints=11
+  cloud_1125: n_keypoints=13
+  cloud_1126: n_keypoints=12
+  cloud_1127: n_keypoints=17
+  cloud_1128: n_keypoints=15
+  cloud_1129: n_keypoints=12
+  cloud_1130: n_keypoints=14
+  cloud_1131: n_keypoints=13
+  cloud_1132: n_keypoints=11
+  cloud_1133: n_keypoints=12
+  cloud_1134: n_keypoints=12
+  cloud_1135: n_keypoints=12
+  cloud_1136: n_keypoints=13
+  cloud_1137: n_keypoints=12
+  cloud_1138: n_keypoints=13
+  cloud_1139: n_keypoints=15
+  cloud_1140: n_keypoints=14
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+  cloud_1142: n_keypoints=12
+  cloud_1143: n_keypoints=12
+  cloud_1144: n_keypoints=13
+  cloud_1145: n_keypoints=13
+  cloud_1146: n_keypoints=14
+  cloud_1147: n_keypoints=11
+  cloud_1148: n_keypoints=11
+  cloud_1149: n_keypoints=10
+  cloud_1150: n_keypoints=13
+  cloud_1151: n_keypoints=12
+  cloud_1152: n_keypoints=10
+  cloud_1153: n_keypoints=14
+  cloud_1154: n_keypoints=12
+  cloud_1155: n_keypoints=15
+  cloud_1156: n_keypoints=14
+  cloud_1157: n_keypoints=11
+  cloud_1158: n_keypoints=12
+  cloud_1159: n_keypoints=14
+  cloud_1160: n_keypoints=12
+  cloud_1161: n_keypoints=18
+  cloud_1162: n_keypoints=12
+  cloud_1163: n_keypoints=11
+  cloud_1164: n_keypoints=12
+  cloud_1165: n_keypoints=10
+  cloud_1166: n_keypoints=12
+  cloud_1167: n_keypoints=10
+  cloud_1168: n_keypoints=12
+  cloud_1169: n_keypoints=16
+  cloud_1170: n_keypoints=12
+  cloud_1171: n_keypoints=16
+  cloud_1172: n_keypoints=14
+  cloud_1173: n_keypoints=18
+  cloud_1174: n_keypoints=17
+  cloud_1175: n_keypoints=16
+  cloud_1176: n_keypoints=19
+  cloud_1177: n_keypoints=17
+  cloud_1178: n_keypoints=28
+  cloud_1179: n_keypoints=22
+  cloud_1180: n_keypoints=22
+  cloud_1181: n_keypoints=24
+  cloud_1182: n_keypoints=20
+  cloud_1183: n_keypoints=28
+  cloud_1184: n_keypoints=21
+  cloud_1185: n_keypoints=17
+  cloud_1186: n_keypoints=26
+  cloud_1187: n_keypoints=20
+  cloud_1188: n_keypoints=22
+  cloud_1189: n_keypoints=17
+  cloud_1190: n_keypoints=14
+  cloud_1191: n_keypoints=13
+  cloud_1192: n_keypoints=12
+  cloud_1193: n_keypoints=20
+  cloud_1194: n_keypoints=16
+  cloud_1195: n_keypoints=12
+  cloud_1196: n_keypoints=16
+  cloud_1197: n_keypoints=13
+  cloud_1198: n_keypoints=15
+  cloud_1199: n_keypoints=15
+  cloud_1200: n_keypoints=17
+  cloud_1201: n_keypoints=17
+  cloud_1202: n_keypoints=10
+  cloud_1203: n_keypoints=11
+  cloud_1204: n_keypoints=11
+  cloud_1205: n_keypoints=12
+  cloud_1206: n_keypoints=14
+  cloud_1207: n_keypoints=14
+  cloud_1208: n_keypoints=11
+  cloud_1209: n_keypoints=13
+  cloud_1210: n_keypoints=8
+  cloud_1211: n_keypoints=14
+  cloud_1212: n_keypoints=19
+  cloud_1213: n_keypoints=13
+  cloud_1214: n_keypoints=12
+  cloud_1215: n_keypoints=15
+  cloud_1216: n_keypoints=11
+  cloud_1217: n_keypoints=13
+  cloud_1218: n_keypoints=10
+  cloud_1219: n_keypoints=15
+  cloud_1220: n_keypoints=15
+  cloud_1221: n_keypoints=11
+  cloud_1222: n_keypoints=19
+  cloud_1223: n_keypoints=11
+  cloud_1224: n_keypoints=14
+  cloud_1225: n_keypoints=14
+  cloud_1226: n_keypoints=11
+  cloud_1227: n_keypoints=17
+  cloud_1228: n_keypoints=16
+  cloud_1229: n_keypoints=15
+  cloud_1230: n_keypoints=21
+  cloud_1231: n_keypoints=13
+  cloud_1232: n_keypoints=18
+  cloud_1233: n_keypoints=20
+  cloud_1234: n_keypoints=18
+  cloud_1235: n_keypoints=22
+  cloud_1236: n_keypoints=17
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+  cloud_1238: n_keypoints=17
+  cloud_1239: n_keypoints=15
+  cloud_1240: n_keypoints=20
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+  cloud_1243: n_keypoints=21
+  cloud_1244: n_keypoints=17
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+  cloud_1246: n_keypoints=14
+  cloud_1247: n_keypoints=18
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+  cloud_1249: n_keypoints=13
+  cloud_1250: n_keypoints=15
+  cloud_1251: n_keypoints=17
+  cloud_1252: n_keypoints=14
+  cloud_1253: n_keypoints=11
+  cloud_1254: n_keypoints=12
+  cloud_1255: n_keypoints=10
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+  cloud_1257: n_keypoints=12
+  cloud_1258: n_keypoints=13
+  cloud_1259: n_keypoints=13
+  cloud_1260: n_keypoints=11
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+  cloud_1262: n_keypoints=11
+  cloud_1263: n_keypoints=13
+  cloud_1264: n_keypoints=13
+  cloud_1265: n_keypoints=10
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+  cloud_1267: n_keypoints=11
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+  cloud_1270: n_keypoints=10
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+  cloud_1273: n_keypoints=13
+  cloud_1274: n_keypoints=18
+  cloud_1275: n_keypoints=18
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+  cloud_1279: n_keypoints=15
+  cloud_1280: n_keypoints=12
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+  cloud_1283: n_keypoints=15
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+  cloud_1286: n_keypoints=28
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+  cloud_1288: n_keypoints=20
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+  cloud_1291: n_keypoints=25
+  cloud_1292: n_keypoints=19
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+  cloud_1294: n_keypoints=24
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+  cloud_1297: n_keypoints=22
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+  cloud_1300: n_keypoints=17
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+  cloud_1305: n_keypoints=11
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+  cloud_1307: n_keypoints=8
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+  cloud_1309: n_keypoints=11
+  cloud_1310: n_keypoints=12
+  cloud_1311: n_keypoints=12
+  cloud_1312: n_keypoints=11
+  cloud_1313: n_keypoints=11
+  cloud_1314: n_keypoints=13
+  cloud_1315: n_keypoints=12
+  cloud_1316: n_keypoints=9
+  cloud_1317: n_keypoints=13
+  cloud_1318: n_keypoints=10
+  cloud_1319: n_keypoints=10
+  cloud_1320: n_keypoints=11
+  cloud_1321: n_keypoints=10
+  cloud_1322: n_keypoints=10
+  cloud_1323: n_keypoints=12
+  cloud_1324: n_keypoints=12
+  cloud_1325: n_keypoints=9
+  cloud_1326: n_keypoints=11
+  cloud_1327: n_keypoints=19
+  cloud_1328: n_keypoints=15
+  cloud_1329: n_keypoints=15
+  cloud_1330: n_keypoints=16
+  cloud_1331: n_keypoints=17
+  cloud_1332: n_keypoints=16
+  cloud_1333: n_keypoints=20
+  cloud_1334: n_keypoints=14
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+  cloud_1355: n_keypoints=12
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+  cloud_1358: n_keypoints=13
+  cloud_1359: n_keypoints=10
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+  cloud_1361: n_keypoints=14
+  cloud_1362: n_keypoints=13
+  cloud_1363: n_keypoints=15
+  cloud_1364: n_keypoints=11
+  cloud_1365: n_keypoints=11
+  cloud_1366: n_keypoints=16
+  cloud_1367: n_keypoints=13
+  cloud_1368: n_keypoints=17
+  cloud_1369: n_keypoints=14
+  cloud_1370: n_keypoints=13
+  cloud_1371: n_keypoints=15
+  cloud_1372: n_keypoints=10
+  cloud_1373: n_keypoints=16
+  cloud_1374: n_keypoints=14
+  cloud_1375: n_keypoints=11
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+  cloud_1377: n_keypoints=8
+  cloud_1378: n_keypoints=11
+  cloud_1379: n_keypoints=11
+  cloud_1380: n_keypoints=10
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+  cloud_1382: n_keypoints=9
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+  cloud_1384: n_keypoints=14
+  cloud_1385: n_keypoints=11
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+  cloud_1387: n_keypoints=12
+  cloud_1388: n_keypoints=15
+  cloud_1389: n_keypoints=14
+  cloud_1390: n_keypoints=13
+  cloud_1391: n_keypoints=11
+  cloud_1392: n_keypoints=11
+  cloud_1393: n_keypoints=14
+  cloud_1394: n_keypoints=18
+  cloud_1395: n_keypoints=16
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+  cloud_1397: n_keypoints=14
+  cloud_1398: n_keypoints=14
+  cloud_1399: n_keypoints=14
+  cloud_1400: n_keypoints=16
+  cloud_1401: n_keypoints=13
+  cloud_1402: n_keypoints=19
+  cloud_1403: n_keypoints=16
+  cloud_1404: n_keypoints=16
+  cloud_1405: n_keypoints=17
+  cloud_1406: n_keypoints=11
+  cloud_1407: n_keypoints=17
+  cloud_1408: n_keypoints=16
+  cloud_1409: n_keypoints=14
+  cloud_1410: n_keypoints=18
+  cloud_1411: n_keypoints=15
+  cloud_1412: n_keypoints=15
+  cloud_1413: n_keypoints=16
+  cloud_1414: n_keypoints=14
+  cloud_1415: n_keypoints=15
+  cloud_1416: n_keypoints=17
+  cloud_1417: n_keypoints=17
+  cloud_1418: n_keypoints=19
+  cloud_1419: n_keypoints=13
+  cloud_1420: n_keypoints=20
+  cloud_1421: n_keypoints=19
+  cloud_1422: n_keypoints=19
+  cloud_1423: n_keypoints=19
+  cloud_1424: n_keypoints=19
+  cloud_1425: n_keypoints=17
+  cloud_1426: n_keypoints=16
+  cloud_1427: n_keypoints=16
+  cloud_1428: n_keypoints=18
+  cloud_1429: n_keypoints=13
+  cloud_1430: n_keypoints=14
+  cloud_1431: n_keypoints=11
+  cloud_1432: n_keypoints=10
+  cloud_1433: n_keypoints=16
+  cloud_1434: n_keypoints=17
+  cloud_1435: n_keypoints=11
+  cloud_1436: n_keypoints=16
+  cloud_1437: n_keypoints=9
+  cloud_1438: n_keypoints=13
+  cloud_1439: n_keypoints=15
+  cloud_1440: n_keypoints=14
+  cloud_1441: n_keypoints=12
+  cloud_1442: n_keypoints=17
+  cloud_1443: n_keypoints=15
+  cloud_1444: n_keypoints=15
+  cloud_1445: n_keypoints=15
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+  cloud_1992: n_keypoints=16
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+  cloud_1994: n_keypoints=18
+  cloud_1995: n_keypoints=16
+  cloud_1996: n_keypoints=20
+  cloud_1997: n_keypoints=20
+  cloud_1998: n_keypoints=18
+  cloud_1999: n_keypoints=20
+  cloud_2000: n_keypoints=19
+  cloud_2001: n_keypoints=13
+  cloud_2002: n_keypoints=14
+  cloud_2003: n_keypoints=9
+  cloud_2004: n_keypoints=13
+  cloud_2005: n_keypoints=16
+  cloud_2006: n_keypoints=13
+  cloud_2007: n_keypoints=18
+  cloud_2008: n_keypoints=15
+  cloud_2009: n_keypoints=17
+  cloud_2010: n_keypoints=19
+  cloud_2011: n_keypoints=15
+  cloud_2012: n_keypoints=17
+  cloud_2013: n_keypoints=16
+  cloud_2014: n_keypoints=8
+  cloud_2015: n_keypoints=11
+  cloud_2016: n_keypoints=15
+  cloud_2017: n_keypoints=18
+  cloud_2018: n_keypoints=16
+  cloud_2019: n_keypoints=19
+  cloud_2020: n_keypoints=21
+  cloud_2021: n_keypoints=22
+  cloud_2022: n_keypoints=14
+  cloud_2023: n_keypoints=18
+  cloud_2024: n_keypoints=16
+  cloud_2025: n_keypoints=14
+  cloud_2026: n_keypoints=18
+  cloud_2027: n_keypoints=14
+  cloud_2028: n_keypoints=12
+  cloud_2029: n_keypoints=14
+  cloud_2030: n_keypoints=13
+  cloud_2031: n_keypoints=12
+  cloud_2032: n_keypoints=13
+  cloud_2033: n_keypoints=14
+  cloud_2034: n_keypoints=14
+  cloud_2035: n_keypoints=15
+  cloud_2036: n_keypoints=14
+  cloud_2037: n_keypoints=15
+  cloud_2038: n_keypoints=14
+  cloud_2039: n_keypoints=15
+  cloud_2040: n_keypoints=13
+  cloud_2041: n_keypoints=11
+  cloud_2042: n_keypoints=13
+  cloud_2043: n_keypoints=14
+  cloud_2044: n_keypoints=15
+  cloud_2045: n_keypoints=14
+  cloud_2046: n_keypoints=16
+  cloud_2047: n_keypoints=18
+  cloud_2048: n_keypoints=18
+  cloud_2049: n_keypoints=18
+  cloud_2050: n_keypoints=17
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+  cloud_2052: n_keypoints=18
+  cloud_2053: n_keypoints=17
+  cloud_2054: n_keypoints=17
+  cloud_2055: n_keypoints=20
+  cloud_2056: n_keypoints=18
+  cloud_2057: n_keypoints=16
+  cloud_2058: n_keypoints=16
+  cloud_2059: n_keypoints=20
+  cloud_2060: n_keypoints=25
+  cloud_2061: n_keypoints=20
+  cloud_2062: n_keypoints=24
+  cloud_2063: n_keypoints=24
+  cloud_2064: n_keypoints=21
+  cloud_2065: n_keypoints=23
+  cloud_2066: n_keypoints=21
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+  cloud_2068: n_keypoints=15
+  cloud_2069: n_keypoints=15
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+  cloud_2073: n_keypoints=14
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+  cloud_2090: n_keypoints=10
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+  cloud_2095: n_keypoints=11
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+  cloud_2097: n_keypoints=11
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+  cloud_2099: n_keypoints=15
+  cloud_2100: n_keypoints=9
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+  cloud_2103: n_keypoints=10
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+  cloud_2107: n_keypoints=13
+  cloud_2108: n_keypoints=12
+  cloud_2109: n_keypoints=13
+  cloud_2110: n_keypoints=12
+  cloud_2111: n_keypoints=10
+  cloud_2112: n_keypoints=14
+  cloud_2113: n_keypoints=11
+  cloud_2114: n_keypoints=9
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+  cloud_2124: n_keypoints=8
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+  cloud_2146: n_keypoints=10
+  cloud_2147: n_keypoints=10
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+  cloud_2165: n_keypoints=11
+  cloud_2166: n_keypoints=10
+  cloud_2167: n_keypoints=11
+  cloud_2168: n_keypoints=7
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+  cloud_2170: n_keypoints=6
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+  cloud_2201: n_keypoints=12
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+  cloud_2204: n_keypoints=11
+  cloud_2205: n_keypoints=7
+  cloud_2206: n_keypoints=12
+  cloud_2207: n_keypoints=11
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+  cloud_2209: n_keypoints=13
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+  cloud_2305: n_keypoints=11
+  cloud_2306: n_keypoints=16
+  cloud_2307: n_keypoints=12
+  cloud_2308: n_keypoints=14
+  cloud_2309: n_keypoints=13
+  cloud_2310: n_keypoints=14
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+  cloud_2313: n_keypoints=20
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+  cloud_2321: n_keypoints=10
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+  cloud_2326: n_keypoints=17
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