Question about the data augmention

[tyjiang1997]

Hi!, thanks for your good project to the lidar motion. But I have a question about the data augmention. I notice that the "input_points" are augmented with global flip and scaling, but the "source_points" and "target_points" do not do this augmetation. Maybe the predicted motion can not transform "source_points" to "target_points" to compute precise chamfer loss. Is this a bug?

[chenxuluo]

Thanks for pointing it out. In the original implementation, all the points are concatenated together and sliced afterward. We are still verifying the preprocessing part after refactorizing.