The decoder output dimension and interpreation

[prashkmr]

Hi,
Thanks for releasing the code for the paper.

I wanted to know the details of the psueod image. Is it a range image form of the lidar. What would be its dimensions, and how do I interpret this psuedo-image.
I wanted to know some details regarding the Convultional Enc-Dec output. Is the output having the same dimesnison as the input lidar scan. Is the output of the decoder similar to a recosntruction of the lidar scan that was input to the models.

Eagerly awaiting for a reply.

Thanks,
Prashant