Merge pull request #438 from Starrah/fix_sample_points

fixbug: error of sample_points when num_point < far_idx_choice

Merge pull request #438 from Starrah/fix_sample_points
fixbug: error of sample_points when num_point < far_idx_choice
b56ab159 · jihan.yang · GitHub · a7cf5368 · a8b7ff1b · b56ab159
Unverified Commit b56ab159 authored Jan 27, 2021 by jihan.yang Committed by GitHub Jan 27, 2021
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pcdet/datasets/processor/data_processor.py pcdet/datasets/processor/data_processor.py +0 -1

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--- a/pcdet/datasets/processor/data_processor.py
+++ b/pcdet/datasets/processor/data_processor.py
@@ -88,7 +88,6 @@ class DataProcessor(object):
            pts_near_flag = pts_depth < 40.0
            far_idxs_choice = np.where(pts_near_flag == 0)[0]
            near_idxs = np.where(pts_near_flag == 1)[0]
-            near_idxs_choice = np.random.choice(near_idxs, num_points - len(far_idxs_choice), replace=False)
            choice = []
            if num_points > len(far_idxs_choice):
                near_idxs_choice = np.random.choice(near_idxs, num_points - len(far_idxs_choice), replace=False)