Datasets:
Download maps/oak_164002/points.json from Pyassahu/xclean-maps: direct link, hf CLI and curl.
- Browser
- Download file 1.48 kB
-
https://huggingface.co/datasets/Pyassahu/xclean-maps/resolve/main/maps/oak_164002/points.json
- Command line
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hf download hf://datasets/Pyassahu/xclean-maps/maps/oak_164002/points.json
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curl -L -o points.json https://huggingface.co/datasets/Pyassahu/xclean-maps/resolve/main/maps/oak_164002/points.json
1.48 kB
| {"count":279129,"bbox_min":[-53.78697967529297,-38.542015075683594,-26.491443634033203],"bbox_max":[4.503253936767578,5.444911956787109,247.8473358154297],"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":1674774,"colour_bytes_per_point":1,"bytes":1953903,"dequant":"p = bbox_min + q / 65535 * (bbox_max - bbox_min), per axis, map frame (metres)","max_quant_error_m":{"axis":[0.0004447246658294546,0.00033559826843543306,0.0020930673743748685],"euclid":0.002162707125499636,"euclid_p50":0.001094867763434349,"bound_half_step_axis":[0.00044472597552499085,0.00033559874137842913,0.0020930707213661624]},"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":[-0.05929964744412189,-0.9873293294252747,-0.1471881349485757],"colour_note":"data-driven: R=G=B for every point; metadata.colour=False","source":{"file":"pointcloud.ply","sha1":"df4545cdd0c9255d29bca8b4f505113cc4481bf0","points":279129,"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"}} |