{"count":1668374,"bbox_min":[-5.369667053222656,-13.273938179016113,-12.557554244995117],"bbox_max":[50.54875183105469,5.807257175445557,68.07456970214844],"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":10010244,"colour_bytes_per_point":1,"bytes":11678618,"dequant":"p = bbox_min + q / 65535 * (bbox_max - bbox_min), per axis, map frame (metres)","max_quant_error_m":{"axis":[0.0004266299271549201,0.00014558001059938874,0.0006151834541654466],"euclid":0.0007607705053319693,"euclid_p50":0.0004173734662110503,"bound_half_step_axis":[0.00042663018909191536,0.00014558018886443632,0.0006151836724433017]},"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":[-0.014170982654308701,-0.984931934780583,-0.1723608630170683],"colour_note":"data-driven: R=G=B for every point; metadata.colour=False","source":{"file":"pointcloud.ply","sha1":"f469521ae5629b2a520bb15082ec34ecd06d2f46","points":1668374,"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"}}