Missmatch on the number of point preds and gt

[Zero-Yi]

Hi,

thank you for the open source code.

I ran your application and saved the predictions as introduced in the ReadMe with

mapmos_pipeline --dataloader kitti --sequence 08 --save_kitti /workspaces/MapMOS/pretrained_ckpt/mapmos.ckpt /home/datasets/semantic_kitti/data

but I noticed that the dimension of outputs didn't match up with ground truth. For example, the prediction 000001.label was in shape of (119219,), while the gt 000001.label with (123433, ). Similarly, prediction 000000.label with (119106,) while gt 000000.label with (123389,). Can you help introduce the missing steps here?

One more thing is, the printed result (Moving IoU) was 77.285%, which seems also not to match the validation result in the paper. Did I miss something here?

Thank you!

Best,
Zinuo

[benemer]

As explained in the Readme:

Want to reproduce the results from the paper?
For reproducing the results of the paper, you need to pass the corresponding config file. They will make sure that the de-skewing option and the maximum range are set properly.

You need to pass the corresponding config files, in your case, kitti.yaml. Otherwise, the point cloud will be pre-processed and clipped, causing a mismatch in the number of points.

Doing that, the printed result should also match the result from the paper. Note that slight variations are possible depending on the version of KISS-ICP that you use. To fully reproduce the results, you have to checkout at the tag mersch2023ral.

[Zero-Yi]

I added the config as:

mapmos_pipeline --dataloader kitti --sequence 08 --config /workspaces/MapMOS/config/kitti.yaml --save_kitti /workspaces/MapMOS/pretrained_ckpt/mapmos.ckpt /home/datasets/semantic_kitti/data

Now the numbers match with each other, but I still only got a moving IoU with 77.351%.

Do I still miss anything here?