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fix the bug about loading npy or bin #1077

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fix the bug about loading npy or bin #1077

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6 changes: 5 additions & 1 deletion pcdet/datasets/custom/custom_dataset.py
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,11 @@ def get_label(self, idx):
def get_lidar(self, idx):
lidar_file = self.root_path / 'points' / ('%s.npy' % idx)
assert lidar_file.exists()
point_features = np.load(lidar_file)
point_features = np.load(lidar_file).reshape(-1,4)
# just like kitti load
# lidar_file = self.root_path / 'points' / ('%s.bin' % idx)
# assert lidar_file.exists()
# point_features = np.fromfile(lidar_file,dtype=np.float32).reshape(-1,4)
return point_features

def set_split(self, split):
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