| {"count":372684,"bbox_min":[-44.50337219238281,-30.693124771118164,2.1582369804382324],"bbox_max":[96.02912139892578,1.6264801025390625,237.3292999267578],"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":2236104,"colour_bytes_per_point":1,"bytes":2608788,"dequant":"p = bbox_min + q / 65535 * (bbox_max - bbox_min), per axis, map frame (metres)","max_quant_error_m":{"axis":[0.0010721927432371103,0.0002465813767678071,0.0017942361794496264],"euclid":0.0020932723812466464,"euclid_p50":0.0011192461449478722,"bound_half_step_axis":[0.0010721941984535638,0.000246582779229856,0.0017942401994836316]},"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":[-0.006382637848811711,-0.9948150136413945,-0.10150049540649186],"colour_note":"data-driven: R=G=B for every point; metadata.colour=False","source":{"file":"pointcloud.ply","sha1":"1a713c58e7aedd0f2848b72a734baa576c6e70b7","points":372684,"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"}} |
