Guidance on the training method(code) using the KITTI dataset

Hello, Sarlin.

I have a question regarding the training method.
In table 3 of the paper, it seems that (c) is **trained only on the KITTI dataset**.


I attemped to train using only KITTI dataset by modifying the 'orienternet.yaml' > default > data : mapiliary to kitti.
**However, when I tried training the results show -inf.**
**So, can you provide a guidance on the training method using the KITTI dataset?**

Additionally, considering the different input image sizes between Mapiliary and KITTI, is it BEV's shape(size) also needs to change?
I am curious **if there is any code to adaptively adjust the BEV shape based on the image size or focal length**

I appreciate your response. Thank you!