Kitti dataset, too big coordinates of keypoints in evaluation

[anastasiia-kornilova]

Dear authors, this is a very cool work, thank you for sharing the code!

I tried to reproduce the results of work on the KITTI dataset. I used save_keypoints.py with path to the dataset from GDrive (numpy representations of PCs) and to the model best.pth from oxford/16384-512-k1k16-2d, The model works and generates keypoints, but in generated keypoints I obtained too huge values:

[[ 3.09118889e-02 -9.79395750e-01 -3.95004240e+07]
 [ 3.27124819e-02 -1.18620468e+00 -3.91861840e+07]
 [ 1.46894772e-02 -2.04260017e+00 -4.01456720e+07]
 [ 2.93604157e-04 -6.35924319e+03 -2.76408450e+06]
......

Could you, please, give me a tip where I can mistake?

[lijx-nutonomy]

One reason could be the incorrect reading of point clouds, e.g., reading as dtype=np.float32 or np.float64.

[anastasiia-kornilova]

Yes, that was the problem. Thank you a lot!