Planes: camera colours, or by orientation (grey = horizontal, colours = the direction a wall faces). People, vehicles (camera instance masks) and the ego car are removed. Tubes: yellow = vertical, red = other. Fitted on the 32 input rings of all 100 frames, with a range-dependent noise model; the points are the real 128-beam scan that neither explains.
Fly: W/A/S/D, E/Q up/down, Shift = fast, drag to look, scroll = speed. O = orbit, P = fly.