diff --git a/dataset/slam_dataset.py b/dataset/slam_dataset.py
index 497ba6f..0971c93 100644
--- a/dataset/slam_dataset.py
+++ b/dataset/slam_dataset.py
@@ -993,14 +993,16 @@ def read_point_cloud(
         # print("available attributes:", keys)
 
         points = pc_load["positions"]
+        points = points.astype(dtype=np.float64)
 
-        if "t" in keys:
-            ts = pc_load["t"] * 1e-8
-        elif "timestamp" in keys:
-            ts = pc_load["timestamp"]
-        else:
-            ts = None
+        time_fields = ["t", "ts", "time", "timestamp", "timestamps"]
 
+        ts = None
+        for time_field in time_fields:
+            if time_field in keys:
+                ts = pc_load[time_field]
+                break
+        
         if "colors" in keys and color_channel == 3:
             colors = pc_load["colors"]  # if they are available
             points = np.hstack((points, colors))
@@ -1008,6 +1010,7 @@ def read_point_cloud(
             intensity = pc_load["intensity"]  # if they are available
             # print(intensity)
             points = np.hstack((points, intensity))
+        
     elif ".pcd" in filename:  # currently cannot be readed by o3d.t.io
         pc_load = o3d.io.read_point_cloud(filename)
         points = np.asarray(pc_load.points, dtype=np.float64)
diff --git a/utils/mesher.py b/utils/mesher.py
index adb7187..fabe907 100644
--- a/utils/mesher.py
+++ b/utils/mesher.py
@@ -595,8 +595,8 @@ def recon_aabb_mesh(
                 o3d.utility.Vector3iVector(faces),
             )
 
-        if not self.silence:
-            print("Marching cubes done")
+        # if not self.silence:
+        #     print("Marching cubes done")
 
         if estimate_sem:
             mesh = self.estimate_vertices_sem(mesh, verts, filter_free_space_vertices)
diff --git a/vis_pin_map.py b/vis_pin_map.py
index bbcdacf..a100d5e 100644
--- a/vis_pin_map.py
+++ b/vis_pin_map.py
@@ -47,7 +47,7 @@ def vis_pin_map():
     sem_mlp = Decoder(config, config.sem_mlp_hidden_dim, config.sem_mlp_level, config.sem_class_count + 1) 
     color_mlp = Decoder(config, config.color_mlp_hidden_dim, config.color_mlp_level, config.color_channel)
 
-    # initialize the feature octree
+    # initialize the neural point features
     neural_points = NeuralPoints(config)
 
     # Load the map