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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/refine_files/m3ed_dataset.yaml b/processed/Car/Urban_Day/car_urban_day_city_hall/refine_files/m3ed_dataset.yaml
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--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/refine_files/m3ed_dataset.yaml
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+DATASET: 'OFFM3EDDataset'
+DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED'
+PLATFORM: Car
+TERRIAN: Urban_Day
+SEQUENCE: car_urban_day_city_hall
+GET_ITEM_LIST: ["points"]
+SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground
+POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4]
+MAX_SWEEPS: 4
+FOV_POINTS_ONLY: True
+
+DATA_SPLIT: {
+    'train': train,
+    'test': val
+}
+SAMPLED_INTERVAL: {
+    'train': 1,
+    'test': 1
+}                
+
+POINT_FEATURE_ENCODING: {
+    encoding_type: absolute_coordinates_encoding,
+    used_feature_list: ['x', 'y', 'z', 'timestamp'],
+    src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'],
+}
+CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
+CLASS_MAPPING: {'car': 'Vehicle',
+                'truck': 'Vehicle',
+                'bus': 'Vehicle',
+                'Vehicle': 'Vehicle',
+                'motorcycle': 'Cyclist',
+                'bicycle': 'Cyclist',
+                'Cyclist': 'Cyclist',
+                'pedestrian': 'Pedestrian',
+                'Pedestrian': 'Pedestrian'}
+DATA_AUGMENTOR: 
+    DISABLE_AUG_LIST: ['placeholder']
+    AUG_CONFIG_LIST:
+    #     - NAME: gt_sampling
+    #       DB_INFO_PATH:
+    #           - m3ed_dbinfos_train_car.pkl
+    #       PREPARE: {
+    #          filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'],
+    #       }
+
+    #       SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15']
+    #       NUM_POINT_FEATURES: 4
+    #       DATABASE_WITH_FAKELIDAR: False
+    #       REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+    #       LIMIT_WHOLE_SCENE: True
+        - NAME: random_world_flip
+          ALONG_AXIS_LIST: [ 'x', 'y' ]
+
+        - NAME: random_world_rotation
+          WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ]
+
+        - NAME: random_world_scaling
+          WORLD_SCALE_RANGE: [ 0.95, 1.05 ]
+          
+DATA_PROCESSOR:
+    - NAME: mask_points_and_boxes_outside_range
+      REMOVE_OUTSIDE_BOXES: True
+
+    # - NAME: gene_nvs
+    #   GENE_NUM: 4
+    #   ENABLED: {
+    #     'train': True,
+    #     'test': False
+    #   }
+
+    - NAME: shuffle_points
+      SHUFFLE_ENABLED: {
+        'train': True,
+        'test': False
+      }
+
+    - NAME: transform_points_to_voxels
+      VOXEL_SIZE: [0.1, 0.1, 0.15]
+      MAX_POINTS_PER_VOXEL: 5
+      MAX_NUMBER_OF_VOXELS: {
+          'train': 80000,
+          'test': 90000
+      }              
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/refine_files/ps_config.yaml b/processed/Car/Urban_Day/car_urban_day_city_hall/refine_files/ps_config.yaml
new file mode 100644
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--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/refine_files/ps_config.yaml
@@ -0,0 +1,74 @@
+SAVE_DIR: ../ps_labels
+DATA_CONFIG_PATH: ./m3ed_dataset.yaml
+
+PS_SCORE_TH: # veh,ped,cyc
+  POS_TH: [0.5,0.3,0.5]
+  NEG_TH: [0.3,0.1,0.3]
+
+ENSEMBLE_KBF:
+  DISCARD: [3, 3, 3]
+  RADIUS: [1.5, 0.3, 0.2]
+  NMS: [0.1, 0.3, 0.1]
+
+TRACKING:
+  VEH_ALL:
+    RUNNING:
+        SCORE_TH: 0.5
+        MAX_AGE_SINCE_UPDATE: 2
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: giou
+        ASSO_TH: 1.0
+    REDUNDANCY:
+        SCORE_TH: 0.3
+        MAX_REDUNDANCY_AGE: 3
+        ASSO_TH: 0.0
+  VEH_STATIC:
+    RUNNING:
+        SCORE_TH: 0.4
+        MAX_AGE_SINCE_UPDATE: 3
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: iou_2d
+        ASSO_TH: 0.5
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 2
+        ASSO_TH: 0.5
+  PEDESTRIAN:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 2
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: giou
+        ASSO_TH: 0.8
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 3
+        ASSO_TH: 0.2
+  PED_STATIC:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 3
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: iou_2d
+        ASSO_TH: 0.5
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 2
+        ASSO_TH: 0.5
+
+TEMPORAL_REFINEMENT:
+  TRACK_FILTERING: 
+    MIN_NUM_STATIC_VEH_TRACKS: 6
+    MIN_NUM_PED_TRACKS: 3
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2
+    USE_STATIC_PED_TRACKS: true
+  ROLLING_KBF:
+    MIN_STATIC_SCORE: 0.8
+    ROLLING_KDE_WINDOW: 15
+  PROPAGATE_BOXES:
+    MIN_STATIC_TRACKS: 5
+    N_EXTRA_FRAMES: 5
+    DEGRADE_FACTOR: 0.99
+    MIN_SCORE_CLIP: 0.3
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00001.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00001.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00001.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00021.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00021.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00021.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00041.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00041.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00041.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00061.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00061.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00061.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00081.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00081.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00081.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00091.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00091.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00091.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00101.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00101.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00101.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00111.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00111.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00111.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00131.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00131.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00131.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00151.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00151.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00151.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00171.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00171.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00171.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00191.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00191.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00191.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00211.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00211.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00211.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00231.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00231.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00231.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
+            0.9999951830897337,
+            0.0,
+            -0.9999847206447054,
+            0.0054306821246087895,
+            0.0010325545051716606,
+            0.0,
+            -0.005427639458589421,
+            -0.9999809863699327,
+            0.002927051167699757,
+            0.0,
+            0.030630311129695317,
+            -0.11365694067971296,
+            -0.14939053203531258,
+            1.0
+        ],
+        "camera_internal": {
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+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00251.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00251.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00251.json
@@ -0,0 +1,31 @@
+[
+    {
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+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00271.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00271.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00271.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00291.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00291.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00291.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00311.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00311.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00311.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00331.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00331.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00331.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00350.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00350.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00350.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
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+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00371.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00371.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00371.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00391.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00391.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00391.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00411.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00411.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00411.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00431.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00431.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00431.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00451.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00451.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00451.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00452.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00452.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00452.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00472.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00472.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00472.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00491.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00491.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00491.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00511.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00511.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00511.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+            1.0
+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00531.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00531.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00531.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
+            0.0010484307570165616,
+            0.0029214021106695382,
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\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00571.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00571.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00571.json
@@ -0,0 +1,31 @@
+[
+    {
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+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00591.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00591.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00591.json
@@ -0,0 +1,31 @@
+[
+    {
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+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00611.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00611.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00611.json
@@ -0,0 +1,31 @@
+[
+    {
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+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00651.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00651.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00651.json
@@ -0,0 +1,31 @@
+[
+    {
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+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00671.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00671.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00671.json
@@ -0,0 +1,31 @@
+[
+    {
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+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00691.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00691.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00691.json
@@ -0,0 +1,31 @@
+[
+    {
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+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00711.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00711.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00711.json
@@ -0,0 +1,31 @@
+[
+    {
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+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00731.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00731.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00731.json
@@ -0,0 +1,31 @@
+[
+    {
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+        "width": 1280,
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+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00751.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00751.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00751.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00771.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00771.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00771.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00791.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00791.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00791.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00811.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00811.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00811.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00831.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00831.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00831.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00851.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00851.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00851.json
@@ -0,0 +1,31 @@
+[
+    {
+        "camera_external": [
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+        ],
+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
+]
\ No newline at end of file
diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00871.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00871.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fe14eaf5403cb00708429beb4dd6856ab6fe18
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00871.json
@@ -0,0 +1,31 @@
+[
+    {
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+        "camera_internal": {
+            "fx": 1264.000838881704,
+            "fy": 1263.5759800610492,
+            "cx": 650.7648404655488,
+            "cy": 366.8843553970793
+        },
+        "width": 1280,
+        "height": 800,
+        "rowMajor": false
+    }
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00891.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00891.json
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00911.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00911.json
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00931.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00931.json
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00951.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00951.json
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00971.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00971.json
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00991.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/00991.json
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/01112.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/01112.json
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/01131.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/01131.json
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/01151.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/01151.json
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/01171.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/01171.json
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/01191.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/camera_config/01191.json
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00021.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00021.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b4b8b8b8fd059cc21d6473980ca6f55c4231732e
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00021.pcd
@@ -0,0 +1,6089 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00041.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00041.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0a2f1b517c020051fce907ba9f011de10d2cada7
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00041.pcd
@@ -0,0 +1,6082 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00061.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00061.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..258dd0490dcab7daef130e59bdf11b8f3b30e3c7
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00061.pcd
@@ -0,0 +1,6177 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
+COUNT 1 1 1 1
+WIDTH 6166
+HEIGHT 1
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00081.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00081.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2cf217816e641ae756b3f8729e946df03cad11ca
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00081.pcd
@@ -0,0 +1,6207 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
+COUNT 1 1 1 1
+WIDTH 6196
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00091.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00091.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0539b43db69c4d2988c5c8e4f4751d4e23a91f9f
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00091.pcd
@@ -0,0 +1,6299 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00101.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00101.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..83cba0e1913f47ceac5a2f9b5c9e12185fddb613
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00101.pcd
@@ -0,0 +1,6541 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00111.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00111.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8345f493c0d524139af9eeae7a97d950fe801ab4
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00111.pcd
@@ -0,0 +1,6606 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00131.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00131.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..20bdfb81607081565f7e68f3674f27dd1257f116
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00131.pcd
@@ -0,0 +1,6195 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00151.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00151.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f8eb2b6e8a8d73dfb23ab384eaa3b2d7da2a394e
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00151.pcd
@@ -0,0 +1,6041 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00171.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00171.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2c9a536b664562217e65b4dea4017e00a526e8bc
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00171.pcd
@@ -0,0 +1,7504 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00191.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00191.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..45e5cd98e9f772bf730610a2bacb8ce2696c9d80
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00191.pcd
@@ -0,0 +1,8090 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00211.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00211.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..90f53500e035acba8a105e42d5dfa9fdb52df207
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00211.pcd
@@ -0,0 +1,7630 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00231.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00231.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..531b3f87cf535003f2fcf5c5886adf28d88345f8
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00231.pcd
@@ -0,0 +1,7004 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00251.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00251.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..eb9402f5f6da4da8eeff8231c1cf9ef9eaf61a88
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00251.pcd
@@ -0,0 +1,7532 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00271.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00271.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b7ed5a496cef8ad46f0202cde4574ad0b1c12de2
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00271.pcd
@@ -0,0 +1,8184 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00291.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00291.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2a7d98fdaafeae7ea752f35e7e15960a7303ff9f
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00291.pcd
@@ -0,0 +1,8609 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
+COUNT 1 1 1 1
+WIDTH 8598
+HEIGHT 1
+VIEWPOINT 0 0 0 1 0 0 0
+POINTS 8598
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00311.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00311.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4e93f4d61e843c8b6e0be3e548b8081375a435e0
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00311.pcd
@@ -0,0 +1,8012 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00331.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00331.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7cfc91b2c6ce655cca6059eae38a2e7a8a272e4c
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00331.pcd
@@ -0,0 +1,7820 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00350.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00350.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9624e70b9b316d416d2c3e373f93c989fcac90d2
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00350.pcd
@@ -0,0 +1,8400 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
+COUNT 1 1 1 1
+WIDTH 8389
+HEIGHT 1
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+POINTS 8389
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00371.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00371.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..380113dc965e9b7428a853ef46dcb4aa7ec3a428
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00371.pcd
@@ -0,0 +1,8278 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
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+WIDTH 8267
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00391.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00391.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..82c2ee954aab87fd6ccaf7bde5648fc35eb72ca4
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00391.pcd
@@ -0,0 +1,8223 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00411.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00411.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..06cdaf3da4f23f5b1f40ffde5f3617675c6c86be
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00411.pcd
@@ -0,0 +1,8559 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
+COUNT 1 1 1 1
+WIDTH 8548
+HEIGHT 1
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+POINTS 8548
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00431.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00431.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fdb7322425bfe6756aa57f84f7d882912025f773
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00431.pcd
@@ -0,0 +1,9233 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00451.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00451.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3f67b850dfb63f29212f26df8f73ee913e8bcf08
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00451.pcd
@@ -0,0 +1,10438 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00452.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00452.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5bc57e5363204e933738852054c288ecc6b0a103
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00452.pcd
@@ -0,0 +1,10516 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00472.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00472.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..55ec079c783f5341f8deca4414945538a2939110
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00472.pcd
@@ -0,0 +1,9830 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00491.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00491.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1d06d70e972eaf2028cd94a58d2cd852bb3d2d88
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00491.pcd
@@ -0,0 +1,7378 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00511.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00511.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ae5797b939ae12b09511bdef754285cd16a8c05a
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00511.pcd
@@ -0,0 +1,8162 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
+COUNT 1 1 1 1
+WIDTH 8151
+HEIGHT 1
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+POINTS 8151
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00531.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00531.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..56c92d4e019e2ad3ea27716685d3792026b50f2e
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00531.pcd
@@ -0,0 +1,8055 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
+COUNT 1 1 1 1
+WIDTH 8044
+HEIGHT 1
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00571.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00571.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..839f2f7aca9631f9bfdc864883922a3e7f2f90dd
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00571.pcd
@@ -0,0 +1,8120 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00591.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00591.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a24db06c70e53787820aef0e7309ed347bfb0b52
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00591.pcd
@@ -0,0 +1,7936 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00611.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00611.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..aeb333261f178818c1260f687c2f2bac676723f7
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00611.pcd
@@ -0,0 +1,7715 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00651.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00651.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..05ecc1bdd138b7c88a64e50f01ff38a8ebf6694d
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00651.pcd
@@ -0,0 +1,7994 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00671.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00671.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9ff5da91c60da84261dc820bb84b3db4f079038c
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00671.pcd
@@ -0,0 +1,8475 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00691.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00691.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..834cc61f4bcce0aab7516c52c7d29b09af58e2da
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00691.pcd
@@ -0,0 +1,9454 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00711.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00711.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0d64979551d48eeb4a70558a580cd2553b95e78d
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00711.pcd
@@ -0,0 +1,10974 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00731.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00731.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b64f6fbe1ddc9ac5e2e02238544108400c5df74a
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00731.pcd
@@ -0,0 +1,10836 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00751.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00751.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..57b45fad9c551f807134534180942b65c5edcaff
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00751.pcd
@@ -0,0 +1,8021 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00771.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00771.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..460406389a9fa43e2f7e50a3645a3f68c523e754
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00771.pcd
@@ -0,0 +1,6462 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00791.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00791.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e80efe59e62f24b8c95d0ec7738b880cf65434d2
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00791.pcd
@@ -0,0 +1,5833 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
+COUNT 1 1 1 1
+WIDTH 5822
+HEIGHT 1
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+POINTS 5822
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00811.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00811.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8b7877e6a4e8933d026c8bfd5c22db38d98a7f03
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00811.pcd
@@ -0,0 +1,6255 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00831.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00831.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e02c40dd3367e6ea6b24984aa3f04ddf07bb7316
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00831.pcd
@@ -0,0 +1,5987 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00851.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00851.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..854a80b80c0e931a14984fb0fe7c3ae7f0413e19
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00851.pcd
@@ -0,0 +1,7084 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00871.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00871.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1cb57d74a771c8179a7097813f59715d317dc0d0
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00871.pcd
@@ -0,0 +1,7941 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
+COUNT 1 1 1 1
+WIDTH 7930
+HEIGHT 1
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+POINTS 7930
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00891.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00891.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bd87dd05d34667a3b2be5137a3d70519c32071bb
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00891.pcd
@@ -0,0 +1,7810 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00911.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00911.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..64f64a20939ef396af76a86bc32aed76623a2555
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00911.pcd
@@ -0,0 +1,8268 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
+COUNT 1 1 1 1
+WIDTH 8257
+HEIGHT 1
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+POINTS 8257
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00931.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00931.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..645999c923910e2257cdb776fce932c6016a9d9f
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00931.pcd
@@ -0,0 +1,6969 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00951.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00951.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8d5bbc13a862cdbaadf4c3dbf6fbee6e55051c48
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00951.pcd
@@ -0,0 +1,6708 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00971.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00971.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..447916374d9839096edf4455aec5a1b6d367384b
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00971.pcd
@@ -0,0 +1,6950 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00991.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00991.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b7caaadafb661024a3083d8cf11ad691a65c9891
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/00991.pcd
@@ -0,0 +1,7212 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
+FIELDS x y z intensity
+SIZE 4 4 4 4
+TYPE F F F F
+COUNT 1 1 1 1
+WIDTH 7201
+HEIGHT 1
+VIEWPOINT 0 0 0 1 0 0 0
+POINTS 7201
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01112.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01112.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..24d360025a72c52d6bf1aba1970459da23af46e2
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01112.pcd
@@ -0,0 +1,6527 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01131.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01131.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e90ad4c44d6eb03a3979fb8e11489be606b9b839
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01131.pcd
@@ -0,0 +1,7364 @@
+# .PCD v0.7 - Point Cloud Data file format
+VERSION .7
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01151.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01151.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c4de51fc2649b1154142ff4c88d2cc092dae37be
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01151.pcd
@@ -0,0 +1,7294 @@
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01171.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01171.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4b9e783fcee91da21208da77aa1e4902a6cc61c7
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01171.pcd
@@ -0,0 +1,6237 @@
+# .PCD v0.7 - Point Cloud Data file format
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01191.pcd b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01191.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8c24753dd04e58e4c80702070f4514f268d864f2
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/lidar_point_cloud_0/01191.pcd
@@ -0,0 +1,5693 @@
+# .PCD v0.7 - Point Cloud Data file format
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new file mode 100644
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00041.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00041.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3cf6356ea2efd356101cdb8001e35f159b777e2
--- /dev/null
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new file mode 100644
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new file mode 100644
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00091.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00091.json
new file mode 100644
index 0000000000000000000000000000000000000000..d46cc59c943918f2136b02c4b714fe848391e33c
--- /dev/null
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00101.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00101.json
new file mode 100644
index 0000000000000000000000000000000000000000..43ad1f7a6d49b49fd62c6600d403209b0111d16d
--- /dev/null
+++ b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00101.json
@@ -0,0 +1,537 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..963ae4feb77e7a429f7a6d78d2a937db534e1615
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00131.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00131.json
new file mode 100644
index 0000000000000000000000000000000000000000..3189ea5bee823f79e7e7100790d502b60886ee9d
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00350.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00350.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7a46fbcc543f1b8dd5382ac7eee1be02e7d71ce
--- /dev/null
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00531.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00531.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bc44aad5349a77b967dabd7ef01b05eb518a9b7
--- /dev/null
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new file mode 100644
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00591.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00591.json
new file mode 100644
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00611.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00611.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c52c1e745f8de731ab31423519443e4c1df6b6b
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new file mode 100644
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00671.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00671.json
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..26cd80cc7a772f395168377cfe1534a6df649417
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new file mode 100644
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new file mode 100644
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00751.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00751.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4fecbe3bab33f1bc8ddc5333f562ec17a59ede2
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00771.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00771.json
new file mode 100644
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00791.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00791.json
new file mode 100644
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..44fe531f780f938c5e5b65850e0136b0d5ba8d70
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00851.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00851.json
new file mode 100644
index 0000000000000000000000000000000000000000..58295b5bc5892bce4983dba7a58ebd4497e281c5
--- /dev/null
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00871.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00871.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cb89f6a430664285dd476446eb8a1f24c93bf09
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00891.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00891.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ce71fcb351d69392a7ea2db59b3529520091817
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00911.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00911.json
new file mode 100644
index 0000000000000000000000000000000000000000..95104f4d4a2a043b9bd8c915ea80242b04ba1339
--- /dev/null
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new file mode 100644
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00951.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00951.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9bc71bbf5d7c630acb0d42a11ab76d2a7b280e4
--- /dev/null
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diff --git a/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00971.json b/processed/Car/Urban_Day/car_urban_day_city_hall/xtreme_modify/result/00971.json
new file mode 100644
index 0000000000000000000000000000000000000000..94e7183dd4a8af736bc9f33575263141deb3b533
--- /dev/null
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/processed/Car/Urban_Day/penno_big_loop/ps_labels/tracks_world_veh_all_refined.pkl b/processed/Car/Urban_Day/penno_big_loop/ps_labels/tracks_world_veh_all_refined.pkl
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--- /dev/null
+++ b/processed/Car/Urban_Day/penno_big_loop/ps_labels/tracks_world_veh_all_refined.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05be0bfd0354e3aa0d7b1930187bc4e6a7d69280f5ab9ba1bc52fa7fceaae9bf
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diff --git a/processed/Car/Urban_Day/penno_big_loop/ps_labels/tracks_world_veh_static.pkl b/processed/Car/Urban_Day/penno_big_loop/ps_labels/tracks_world_veh_static.pkl
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--- /dev/null
+++ b/processed/Car/Urban_Day/penno_big_loop/ps_labels/tracks_world_veh_static.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1808134
diff --git a/processed/Car/Urban_Day/penno_big_loop/ps_labels/tracks_world_veh_static_refined.pkl b/processed/Car/Urban_Day/penno_big_loop/ps_labels/tracks_world_veh_static_refined.pkl
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--- /dev/null
+++ b/processed/Car/Urban_Day/penno_big_loop/ps_labels/tracks_world_veh_static_refined.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55a223f9cb038f5effeebe9344c60734f15854dfb335fe085a9a83cfe49e90b1
+size 3551664
diff --git a/processed/Car/Urban_Day/penno_big_loop/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl b/processed/Car/Urban_Day/penno_big_loop/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl
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--- /dev/null
+++ b/processed/Car/Urban_Day/penno_big_loop/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/Car/Urban_Day/penno_big_loop/refine_files/m3ed_dataset.yaml b/processed/Car/Urban_Day/penno_big_loop/refine_files/m3ed_dataset.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c6d89eec1dd1026a3bb3f3be2b43110603bb7ca5
--- /dev/null
+++ b/processed/Car/Urban_Day/penno_big_loop/refine_files/m3ed_dataset.yaml
@@ -0,0 +1,83 @@
+DATASET: 'OFFM3EDDataset'
+DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED'
+PLATFORM: Car
+TERRIAN: Urban_Day
+SEQUENCE: penno_big_loop
+GET_ITEM_LIST: ["points"]
+SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground
+POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4]
+MAX_SWEEPS: 4
+FOV_POINTS_ONLY: True
+
+DATA_SPLIT: {
+    'train': train,
+    'test': val
+}
+SAMPLED_INTERVAL: {
+    'train': 1,
+    'test': 1
+}                
+
+POINT_FEATURE_ENCODING: {
+    encoding_type: absolute_coordinates_encoding,
+    used_feature_list: ['x', 'y', 'z', 'timestamp'],
+    src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'],
+}
+CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
+CLASS_MAPPING: {'car': 'Vehicle',
+                'truck': 'Vehicle',
+                'bus': 'Vehicle',
+                'Vehicle': 'Vehicle',
+                'motorcycle': 'Cyclist',
+                'bicycle': 'Cyclist',
+                'Cyclist': 'Cyclist',
+                'pedestrian': 'Pedestrian',
+                'Pedestrian': 'Pedestrian'}
+DATA_AUGMENTOR: 
+    DISABLE_AUG_LIST: ['placeholder']
+    AUG_CONFIG_LIST:
+    #     - NAME: gt_sampling
+    #       DB_INFO_PATH:
+    #           - m3ed_dbinfos_train_car.pkl
+    #       PREPARE: {
+    #          filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'],
+    #       }
+
+    #       SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15']
+    #       NUM_POINT_FEATURES: 4
+    #       DATABASE_WITH_FAKELIDAR: False
+    #       REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+    #       LIMIT_WHOLE_SCENE: True
+        - NAME: random_world_flip
+          ALONG_AXIS_LIST: [ 'x', 'y' ]
+
+        - NAME: random_world_rotation
+          WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ]
+
+        - NAME: random_world_scaling
+          WORLD_SCALE_RANGE: [ 0.95, 1.05 ]
+          
+DATA_PROCESSOR:
+    - NAME: mask_points_and_boxes_outside_range
+      REMOVE_OUTSIDE_BOXES: True
+
+    # - NAME: gene_nvs
+    #   GENE_NUM: 4
+    #   ENABLED: {
+    #     'train': True,
+    #     'test': False
+    #   }
+
+    - NAME: shuffle_points
+      SHUFFLE_ENABLED: {
+        'train': True,
+        'test': False
+      }
+
+    - NAME: transform_points_to_voxels
+      VOXEL_SIZE: [0.1, 0.1, 0.15]
+      MAX_POINTS_PER_VOXEL: 5
+      MAX_NUMBER_OF_VOXELS: {
+          'train': 80000,
+          'test': 90000
+      }              
diff --git a/processed/Car/Urban_Day/penno_big_loop/refine_files/ps_config.yaml b/processed/Car/Urban_Day/penno_big_loop/refine_files/ps_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b05acfe2ef14d3e4e30349726b1f0b5dc26a38d3
--- /dev/null
+++ b/processed/Car/Urban_Day/penno_big_loop/refine_files/ps_config.yaml
@@ -0,0 +1,74 @@
+SAVE_DIR: ../ps_labels
+DATA_CONFIG_PATH: ./m3ed_dataset.yaml
+
+PS_SCORE_TH: # veh,ped,cyc
+  POS_TH: [0.1,0.3,0.5]
+  NEG_TH: [0.3,0.1,0.3]
+
+ENSEMBLE_KBF:
+  DISCARD: [3, 3, 3]
+  RADIUS: [1.5, 0.3, 0.2]
+  NMS: [0.1, 0.3, 0.1]
+
+TRACKING:
+  VEH_ALL:
+    RUNNING:
+        SCORE_TH: 0.2
+        MAX_AGE_SINCE_UPDATE: 2
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: giou
+        ASSO_TH: 1.0
+    REDUNDANCY:
+        SCORE_TH: 0.3
+        MAX_REDUNDANCY_AGE: 3
+        ASSO_TH: 0.0
+  VEH_STATIC:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 3
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: iou_2d
+        ASSO_TH: 0.5
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 2
+        ASSO_TH: 0.5
+  PEDESTRIAN:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 2
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: giou
+        ASSO_TH: 0.8
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 3
+        ASSO_TH: 0.2
+  PED_STATIC:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 3
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: iou_2d
+        ASSO_TH: 0.5
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 2
+        ASSO_TH: 0.5
+
+TEMPORAL_REFINEMENT:
+  TRACK_FILTERING: 
+    MIN_NUM_STATIC_VEH_TRACKS: 6
+    MIN_NUM_PED_TRACKS: 3
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2
+    USE_STATIC_PED_TRACKS: true
+  ROLLING_KBF:
+    MIN_STATIC_SCORE: 0.8
+    ROLLING_KDE_WINDOW: 15
+  PROPAGATE_BOXES:
+    MIN_STATIC_TRACKS: 5
+    N_EXTRA_FRAMES: 5
+    DEGRADE_FACTOR: 0.99
+    MIN_SCORE_CLIP: 0.3
diff --git a/processed/Car/Urban_Day/rittenhouse/car_urban_day_rittenhouse_pose_gt.h5 b/processed/Car/Urban_Day/rittenhouse/car_urban_day_rittenhouse_pose_gt.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b314ec285f2593d9caaa126f4e7eabc5f0a47448
--- /dev/null
+++ b/processed/Car/Urban_Day/rittenhouse/car_urban_day_rittenhouse_pose_gt.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccf456b039dd4d236aa35e04eec14901503747663488171fc3dd6b6ac997ce86
+size 1068720
diff --git a/processed/Car/Urban_Day/rittenhouse/cut_data.h5 b/processed/Car/Urban_Day/rittenhouse/cut_data.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d1af41e3ae514df848854f4375861cfe4aa0f485
--- /dev/null
+++ b/processed/Car/Urban_Day/rittenhouse/cut_data.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:278f6e8db9c32983fd767d1543a07672d987bdcef5a11d5ddc51b8b8520e9e04
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diff --git a/processed/Car/Urban_Day/rittenhouse/ps_labels/final_ps_dict.pkl b/processed/Car/Urban_Day/rittenhouse/ps_labels/final_ps_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2f4e4fdc2689dfd2fa9599afb2a2d4a13f9ddf34
--- /dev/null
+++ b/processed/Car/Urban_Day/rittenhouse/ps_labels/final_ps_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2752bf8a2eeb2d5b5f00d874a4d672367f95abab4f393fb750ba6870fa114973
+size 2666019
diff --git a/processed/Car/Urban_Day/rittenhouse/ps_labels/initial_pseudo_labels.pkl b/processed/Car/Urban_Day/rittenhouse/ps_labels/initial_pseudo_labels.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6cd56fabca8c8f920bea9f719daff0646d032e5b
--- /dev/null
+++ b/processed/Car/Urban_Day/rittenhouse/ps_labels/initial_pseudo_labels.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8c69768ac2cb7c5fa92ecc979ad3e66763ac0730bed911f64d6cf76c234cf40
+size 1261656
diff --git a/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_ped.pkl b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_ped.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2fff67f37eaa8c3f5eed5633b6ca9f41b2b36cc5
--- /dev/null
+++ b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_ped.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ea6255048a7554dc39ba2eea39ab7547d2f4accd664293298a7ba97cadef26b
+size 1542170
diff --git a/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_ped_refined.pkl b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_ped_refined.pkl
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index 0000000000000000000000000000000000000000..44f7b98d18618ec7554b60b6993df1c6a0202e4e
--- /dev/null
+++ b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_ped_refined.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d6d9678868a82a742cbcbf9344855ffcb701d4d8e7b7d6c34e1c1830100e393
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diff --git a/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_all.pkl b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_all.pkl
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index 0000000000000000000000000000000000000000..5b2e407c04b563f090eaa2948b5791678208ee3e
--- /dev/null
+++ b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_all.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3fc950ed73950c61da42563370b94edde6c4a79161ae210dfa1f59ed4ec1a3f
+size 1169758
diff --git a/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_all_refined.pkl b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_all_refined.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6eab4205b4df48382be82b27846b301ac3096636
--- /dev/null
+++ b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_all_refined.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79ce979e37abae1e7a9db33f147fc4302eff6eebbd547710ee5715b0209fd34d
+size 2461685
diff --git a/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_static.pkl b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_static.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e66f0bd8c4226cf964be64db27a4f2e5702288b4
--- /dev/null
+++ b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_static.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70619856733329f32727370729daa29df83df03ed542757fdf718ecd5ca21832
+size 1177302
diff --git a/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_static_refined.pkl b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_static_refined.pkl
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--- /dev/null
+++ b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_static_refined.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7daffe8ebf77a025782ace6aeb94bdc97e6ef8d067aedfb57834f243938c87c7
+size 2527085
diff --git a/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..57e78d28cb21cf8acea36c9e4c7e9b64f15d82b2
--- /dev/null
+++ b/processed/Car/Urban_Day/rittenhouse/ps_labels/tracks_world_veh_static_refined_prop_boxes.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:596ca9d65016eea829cab539096a7c81ab84bc178df0a31fc8cd44de50c1de0b
+size 3326081
diff --git a/processed/Car/Urban_Day/rittenhouse/refine_files/m3ed_dataset.yaml b/processed/Car/Urban_Day/rittenhouse/refine_files/m3ed_dataset.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..81dedffcda1fce247aa8f68837d9bd7605e84b81
--- /dev/null
+++ b/processed/Car/Urban_Day/rittenhouse/refine_files/m3ed_dataset.yaml
@@ -0,0 +1,83 @@
+DATASET: 'OFFM3EDDataset'
+DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED'
+PLATFORM: Car
+TERRIAN: Urban_Day
+SEQUENCE: rittenhouse
+GET_ITEM_LIST: ["points"]
+SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground
+POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4]
+MAX_SWEEPS: 4
+FOV_POINTS_ONLY: True
+
+DATA_SPLIT: {
+    'train': train,
+    'test': val
+}
+SAMPLED_INTERVAL: {
+    'train': 1,
+    'test': 1
+}                
+
+POINT_FEATURE_ENCODING: {
+    encoding_type: absolute_coordinates_encoding,
+    used_feature_list: ['x', 'y', 'z', 'timestamp'],
+    src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'],
+}
+CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
+CLASS_MAPPING: {'car': 'Vehicle',
+                'truck': 'Vehicle',
+                'bus': 'Vehicle',
+                'Vehicle': 'Vehicle',
+                'motorcycle': 'Cyclist',
+                'bicycle': 'Cyclist',
+                'Cyclist': 'Cyclist',
+                'pedestrian': 'Pedestrian',
+                'Pedestrian': 'Pedestrian'}
+DATA_AUGMENTOR: 
+    DISABLE_AUG_LIST: ['placeholder']
+    AUG_CONFIG_LIST:
+    #     - NAME: gt_sampling
+    #       DB_INFO_PATH:
+    #           - m3ed_dbinfos_train_car.pkl
+    #       PREPARE: {
+    #          filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'],
+    #       }
+
+    #       SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15']
+    #       NUM_POINT_FEATURES: 4
+    #       DATABASE_WITH_FAKELIDAR: False
+    #       REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+    #       LIMIT_WHOLE_SCENE: True
+        - NAME: random_world_flip
+          ALONG_AXIS_LIST: [ 'x', 'y' ]
+
+        - NAME: random_world_rotation
+          WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ]
+
+        - NAME: random_world_scaling
+          WORLD_SCALE_RANGE: [ 0.95, 1.05 ]
+          
+DATA_PROCESSOR:
+    - NAME: mask_points_and_boxes_outside_range
+      REMOVE_OUTSIDE_BOXES: True
+
+    # - NAME: gene_nvs
+    #   GENE_NUM: 4
+    #   ENABLED: {
+    #     'train': True,
+    #     'test': False
+    #   }
+
+    - NAME: shuffle_points
+      SHUFFLE_ENABLED: {
+        'train': True,
+        'test': False
+      }
+
+    - NAME: transform_points_to_voxels
+      VOXEL_SIZE: [0.1, 0.1, 0.15]
+      MAX_POINTS_PER_VOXEL: 5
+      MAX_NUMBER_OF_VOXELS: {
+          'train': 80000,
+          'test': 90000
+      }              
diff --git a/processed/Car/Urban_Day/rittenhouse/refine_files/ps_config.yaml b/processed/Car/Urban_Day/rittenhouse/refine_files/ps_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f115e21e926fbe9bfcf95df7ff7e6f6884730b7d
--- /dev/null
+++ b/processed/Car/Urban_Day/rittenhouse/refine_files/ps_config.yaml
@@ -0,0 +1,74 @@
+SAVE_DIR: ../ps_labels
+DATA_CONFIG_PATH: ./m3ed_dataset.yaml
+
+PS_SCORE_TH: # veh,ped,cyc
+  POS_TH: [0.5,0.5,0.5]
+  NEG_TH: [0.3,0.1,0.3]
+
+ENSEMBLE_KBF:
+  DISCARD: [3, 3, 3]
+  RADIUS: [1.5, 0.3, 0.2]
+  NMS: [0.1, 0.3, 0.1]
+
+TRACKING:
+  VEH_ALL:
+    RUNNING:
+        SCORE_TH: 0.5
+        MAX_AGE_SINCE_UPDATE: 2
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: giou
+        ASSO_TH: 1.0
+    REDUNDANCY:
+        SCORE_TH: 0.3
+        MAX_REDUNDANCY_AGE: 3
+        ASSO_TH: 0.0
+  VEH_STATIC:
+    RUNNING:
+        SCORE_TH: 0.4
+        MAX_AGE_SINCE_UPDATE: 3
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: iou_2d
+        ASSO_TH: 0.5
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 2
+        ASSO_TH: 0.5
+  PEDESTRIAN:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 2
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: giou
+        ASSO_TH: 0.8
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 3
+        ASSO_TH: 0.2
+  PED_STATIC:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 3
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: iou_2d
+        ASSO_TH: 0.5
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 2
+        ASSO_TH: 0.5
+
+TEMPORAL_REFINEMENT:
+  TRACK_FILTERING: 
+    MIN_NUM_STATIC_VEH_TRACKS: 6
+    MIN_NUM_PED_TRACKS: 3
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2
+    USE_STATIC_PED_TRACKS: true
+  ROLLING_KBF:
+    MIN_STATIC_SCORE: 0.8
+    ROLLING_KDE_WINDOW: 15
+  PROPAGATE_BOXES:
+    MIN_STATIC_TRACKS: 5
+    N_EXTRA_FRAMES: 5
+    DEGRADE_FACTOR: 0.99
+    MIN_SCORE_CLIP: 0.3
diff --git a/processed/Car/Urban_Day/ucity_small_loop/car_urban_day_ucity_small_loop_pose_gt.h5 b/processed/Car/Urban_Day/ucity_small_loop/car_urban_day_ucity_small_loop_pose_gt.h5
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diff --git a/processed/Car/Urban_Day/ucity_small_loop/ps_labels/tracks_world_ped.pkl b/processed/Car/Urban_Day/ucity_small_loop/ps_labels/tracks_world_ped.pkl
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diff --git a/processed/Car/Urban_Day/ucity_small_loop/refine_files/m3ed_dataset.yaml b/processed/Car/Urban_Day/ucity_small_loop/refine_files/m3ed_dataset.yaml
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--- /dev/null
+++ b/processed/Car/Urban_Day/ucity_small_loop/refine_files/m3ed_dataset.yaml
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+DATASET: 'OFFM3EDDataset'
+DATA_PATH: '/home/alan/AlanLiang/Dataset/M3ED'
+PLATFORM: Car
+TERRIAN: Urban_Day
+SEQUENCE: ucity_small_loop
+GET_ITEM_LIST: ["points"]
+SHIFT_COOR: [0.0, 0.0, 0.0] # change this according to your lidar height above ground
+POINT_CLOUD_RANGE: [-75.2, -75.2, -2, 75.2, 75.2, 4]
+MAX_SWEEPS: 4
+FOV_POINTS_ONLY: True
+
+DATA_SPLIT: {
+    'train': train,
+    'test': val
+}
+SAMPLED_INTERVAL: {
+    'train': 1,
+    'test': 1
+}                
+
+POINT_FEATURE_ENCODING: {
+    encoding_type: absolute_coordinates_encoding,
+    used_feature_list: ['x', 'y', 'z', 'timestamp'],
+    src_feature_list: ['x', 'y', 'z', 'intensity', 'timestamp'],
+}
+CLASS_NAMES: ['Vehicle', 'Pedestrian', 'Cyclist']
+CLASS_MAPPING: {'car': 'Vehicle',
+                'truck': 'Vehicle',
+                'bus': 'Vehicle',
+                'Vehicle': 'Vehicle',
+                'motorcycle': 'Cyclist',
+                'bicycle': 'Cyclist',
+                'Cyclist': 'Cyclist',
+                'pedestrian': 'Pedestrian',
+                'Pedestrian': 'Pedestrian'}
+DATA_AUGMENTOR: 
+    DISABLE_AUG_LIST: ['placeholder']
+    AUG_CONFIG_LIST:
+    #     - NAME: gt_sampling
+    #       DB_INFO_PATH:
+    #           - m3ed_dbinfos_train_car.pkl
+    #       PREPARE: {
+    #          filter_by_min_points: ['Vehicle:5', 'Pedestrian:5'],
+    #       }
+
+    #       SAMPLE_GROUPS: ['Vehicle:25','Pedestrian:15']
+    #       NUM_POINT_FEATURES: 4
+    #       DATABASE_WITH_FAKELIDAR: False
+    #       REMOVE_EXTRA_WIDTH: [0.0, 0.0, 0.0]
+    #       LIMIT_WHOLE_SCENE: True
+        - NAME: random_world_flip
+          ALONG_AXIS_LIST: [ 'x', 'y' ]
+
+        - NAME: random_world_rotation
+          WORLD_ROT_ANGLE: [ -0.78539816, 0.78539816 ]
+
+        - NAME: random_world_scaling
+          WORLD_SCALE_RANGE: [ 0.95, 1.05 ]
+          
+DATA_PROCESSOR:
+    - NAME: mask_points_and_boxes_outside_range
+      REMOVE_OUTSIDE_BOXES: True
+
+    # - NAME: gene_nvs
+    #   GENE_NUM: 4
+    #   ENABLED: {
+    #     'train': True,
+    #     'test': False
+    #   }
+
+    - NAME: shuffle_points
+      SHUFFLE_ENABLED: {
+        'train': True,
+        'test': False
+      }
+
+    - NAME: transform_points_to_voxels
+      VOXEL_SIZE: [0.1, 0.1, 0.15]
+      MAX_POINTS_PER_VOXEL: 5
+      MAX_NUMBER_OF_VOXELS: {
+          'train': 80000,
+          'test': 90000
+      }              
diff --git a/processed/Car/Urban_Day/ucity_small_loop/refine_files/ps_config.yaml b/processed/Car/Urban_Day/ucity_small_loop/refine_files/ps_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c97db783843352a1a6c2319aa64dd6a8e3f00340
--- /dev/null
+++ b/processed/Car/Urban_Day/ucity_small_loop/refine_files/ps_config.yaml
@@ -0,0 +1,74 @@
+SAVE_DIR: ../ps_labels
+DATA_CONFIG_PATH: ./m3ed_dataset.yaml
+
+PS_SCORE_TH: # veh,ped,cyc
+  POS_TH: [0.5,0.3,0.5]
+  NEG_TH: [0.3,0.1,0.3]
+
+ENSEMBLE_KBF:
+  DISCARD: [3, 3, 3]
+  RADIUS: [1.5, 0.3, 0.2]
+  NMS: [0.1, 0.3, 0.1]
+
+TRACKING:
+  VEH_ALL:
+    RUNNING:
+        SCORE_TH: 0.5
+        MAX_AGE_SINCE_UPDATE: 2
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: giou
+        ASSO_TH: 1.0
+    REDUNDANCY:
+        SCORE_TH: 0.3
+        MAX_REDUNDANCY_AGE: 3
+        ASSO_TH: 0.0
+  VEH_STATIC:
+    RUNNING:
+        SCORE_TH: 0.4
+        MAX_AGE_SINCE_UPDATE: 3
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: iou_2d
+        ASSO_TH: 0.5
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 2
+        ASSO_TH: 0.5
+  PEDESTRIAN:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 2
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: giou
+        ASSO_TH: 0.8
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 3
+        ASSO_TH: 0.2
+  PED_STATIC:
+    RUNNING:
+        SCORE_TH: 0.1
+        MAX_AGE_SINCE_UPDATE: 3
+        MIN_HITS_TO_BIRTH: 2
+        ASSO: iou_2d
+        ASSO_TH: 0.5
+    REDUNDANCY:
+        SCORE_TH: 0.1
+        MAX_REDUNDANCY_AGE: 2
+        ASSO_TH: 0.5
+
+TEMPORAL_REFINEMENT:
+  TRACK_FILTERING: 
+    MIN_NUM_STATIC_VEH_TRACKS: 6
+    MIN_NUM_PED_TRACKS: 3
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_ALL: 4
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_VEH_STATIC: 3
+    MIN_DETS_ABOVE_POS_TH_FOR_TRACKS_PED: 2
+    USE_STATIC_PED_TRACKS: true
+  ROLLING_KBF:
+    MIN_STATIC_SCORE: 0.8
+    ROLLING_KDE_WINDOW: 15
+  PROPAGATE_BOXES:
+    MIN_STATIC_TRACKS: 5
+    N_EXTRA_FRAMES: 5
+    DEGRADE_FACTOR: 0.99
+    MIN_SCORE_CLIP: 0.3