xclean-maps / maps /oak_160543 /points.json
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Public wording: replay (not live) for poses, no internal build names, route wording
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{"count":1216779,"bbox_min":[-8.74228286743164,-5.158276557922363,-45.90011215209961],"bbox_max":[78.08467102050781,6.272996425628662,15.43820858001709],"quant":"uint16","colour":"grey8","stride_bytes":6,"layout":"planar, little-endian: positions = count x 3 uint16 (x, y, z interleaved; byte offset 0, 6 bytes per point), then colours = count x (1 for grey8 | 3 for rgb8) uint8 (byte offset colour_offset)","colour_offset":7300674,"colour_bytes_per_point":1,"bytes":8517453,"dequant":"p = bbox_min + q / 65535 * (bbox_max - bbox_min), per axis, map frame (metres)","max_quant_error_m":{"axis":[0.000662445503614606,8.72149023258828e-05,0.00046798088753163825],"euclid":0.0008143041776715759,"euclid_p50":0.00044731885478696456,"bound_half_step_axis":[0.0006624471952997594,8.721502238155967e-05,0.0004679813895789784]},"order":"random permutation of the source order (numpy default_rng(0).permutation): any prefix is a uniform subsample","frame":"map frame (OpenCV: x right, y down, z forward of the first rectified left camera)","up":[0.004269676005617118,-0.999171216328874,-0.04048024612926285],"colour_note":"data-driven: R=G=B for every point; metadata.colour=False","source":{"file":"pointcloud.ply","sha1":"f558d26f3fb47b7d8eb3285c5911b0b0528ba1e5","points":1216779,"built_from":"32-direction SGM disparity of each keyframe (xclean/stereo/sgm32.py; 0 = invalid, skipped), depth = fB / d, xclean live keyframe poses, map frame; sky / edges / moving pixels excluded"}}