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Commit f91d9098 authored by Shaoshuai Shi's avatar Shaoshuai Shi
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merge with master

parents ca5a1f19 1483517a
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pcdet/datasets/processor/point_feature_encoder.py
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...@@ -31,8 +31,13 @@ class PointFeatureEncoder(object): ...@@ -31,8 +31,13 @@ class PointFeatureEncoder(object):
) )
data_dict['use_lead_xyz'] = use_lead_xyz data_dict['use_lead_xyz'] = use_lead_xyz
<<<<<<< HEAD
if self.point_encoding_config.get('FILTER_SWEEPS', False) and 'timestamp' in self.src_feature_list: if self.point_encoding_config.get('FILTER_SWEEPS', False) and 'timestamp' in self.src_feature_list:
max_sweeps = self.point_encoding_config.MAX_SWEEPS max_sweeps = self.point_encoding_config.MAX_SWEEPS
=======
if self.point_encoding_config.get('filter_sweeps', False) and 'timestamp' in self.src_feature_list:
max_sweeps = self.point_encoding_config.max_sweeps
>>>>>>> dev_v0.5
idx = self.src_feature_list.index('timestamp') idx = self.src_feature_list.index('timestamp')
dt = np.round(data_dict['points'][:, idx], 2) dt = np.round(data_dict['points'][:, idx], 2)
max_dt = sorted(np.unique(dt))[min(len(np.unique(dt))-1, max_sweeps-1)] max_dt = sorted(np.unique(dt))[min(len(np.unique(dt))-1, max_sweeps-1)]
......
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