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Unverified Commit b56ab159 authored by jihan.yang's avatar jihan.yang Committed by GitHub
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Merge pull request #438 from Starrah/fix_sample_points 

fixbug: error of sample_points when num_point < far_idx_choice
parents a7cf5368 a8b7ff1b
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pcdet/datasets/processor/data_processor.py
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...@@ -88,7 +88,6 @@ class DataProcessor(object): ...@@ -88,7 +88,6 @@ class DataProcessor(object):
pts_near_flag = pts_depth < 40.0 pts_near_flag = pts_depth < 40.0
far_idxs_choice = np.where(pts_near_flag == 0)[0] far_idxs_choice = np.where(pts_near_flag == 0)[0]
near_idxs = np.where(pts_near_flag == 1)[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 = [] choice = []
if num_points > len(far_idxs_choice): if num_points > len(far_idxs_choice):
near_idxs_choice = np.random.choice(near_idxs, num_points - len(far_idxs_choice), replace=False) near_idxs_choice = np.random.choice(near_idxs, num_points - len(far_idxs_choice), replace=False)
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