xclean-maps / maps /oak_161834 /points.json
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Public wording: replay (not live) for poses, no internal build names, route wording (part 2)
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{"count":232817,"bbox_min":[-405.8096923828125,-47.5599250793457,-49.745723724365234],"bbox_max":[8.36386489868164,17.841108322143555,325.92303466796875],"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":1396902,"colour_bytes_per_point":1,"bytes":1629719,"dequant":"p = bbox_min + q / 65535 * (bbox_max - bbox_min), per axis, map frame (metres)","max_quant_error_m":{"axis":[0.0031599387502865284,0.0004989776384363154,0.0028661627059136663],"euclid":0.004284470463204521,"euclid_p50":0.002420436703085933,"bound_half_step_axis":[0.0031599416897954845,0.0004989779003699493,0.002866168905106691]},"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":[-0.07683119985070502,-0.9723780588216534,-0.22040389618093004],"colour_note":"data-driven: R=G=B for every point; metadata.colour=False","source":{"file":"pointcloud.ply","sha1":"a9aa9e3d54cc548a75304a2dcc54bae3d729ee37","points":232817,"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"}}