Question about Carla Dataset

[fiftywu]

Hi, I wonder the dataset of Empyties Project is the same as the dataset of EmptyCities_SLAM?

By the way, I wonder that the performance of {G(x), D(x,y)}, {G(x,m), D(x,y)}, {G(x,m), D(x,y,m)} decrease in your EmptyCities_SLAM paper ? Could you provide some hints for me to think it over?

Thank you very much!