fix(process): if no cluster, still need write label with initial.

Author: Kin-Zhang

process.py

@@ -54,17 +54,17 @@ def run_cluster(
         for i in tqdm(range(bounds["min_index"], bounds["max_index"]+1), desc=f"Start Plus Cluster: {scene_in_data_index}/{len(all_scene_ids)}", ncols=80):
             data = dataset[i]
             pc0 = data['pc0'][:,:3]
+            cluster_label = np.zeros(pc0.shape[0], dtype= np.int16)
+
             if "dufo_label" not in data:
                 print(f"Warning: {scene_id} {data['timestamp']} has no dufo_label, will be skipped. Better to rerun dufomap again in this scene.")
                 continue
             elif data["dufo_label"].sum() < 20:
                 print(f"Warning: {scene_id} {data['timestamp']} has no dynamic points, will be skipped. Better to check this scene.")
-                continue
-            
-            cluster_label = np.zeros(pc0.shape[0], dtype= np.int16)
-            hdb.fit(pc0[data["dufo_label"]==1])
-            # NOTE(Qingwen): since -1 will be assigned if no cluster. We set it to 0.
-            cluster_label[data["dufo_label"]==1] = hdb.labels_ + 1 
+            else:
+                hdb.fit(pc0[data["dufo_label"]==1])
+                # NOTE(Qingwen): since -1 will be assigned if no cluster. We set it to 0.
+                cluster_label[data["dufo_label"]==1] = hdb.labels_ + 1 
 
             # save labels
             timestamp = data['timestamp']