fix(process): the minimum condition for cluster should be set as larger than k (20).

Author: Kin-Zhang

envprocess.yaml

@@ -18,11 +18,13 @@ dependencies:
     - nuscenes-devkit
     - av2==0.2.1
     - waymo-open-dataset-tf-2.11.0==1.5.0
-    - open3d==0.16.0
+    - open3d==0.18.0
     - linefit
     - dztimer
     - dufomap==1.0.0
     - evalai
 
 # Reason about the version fixed:
-# numpy==1.22: package conflicts, need numpy higher or same 1.22
+# numpy==1.22: package conflicts, need numpy higher or same 1.22
+# open3d==0.18.0: because 0.17.0 have bug on set the view json file
+# dufomap==1.0.0: in case later updating may not compatible with the code.

process.py

@@ -57,7 +57,7 @@ def run_cluster(
             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() == 0:
+            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