The two python files utils_data_viewer.py and utils_obj_det.py contain plenty of methods that visualize different aspects of the dataset, like lidar projected in an image, top down view on all 5 radars, interactive 3D visualization oflidar data and more.
The DetectionLearning.ipynb Jupyter Notebook contains the method that performs 3D clustering on the LiDAR data and subsequential Kalman Filtering. The Kalman Filter is implemented in Detection.py. Please view DetectionLearning.ipynb for a more detailed algorithm description.