Bug in data_classes?

[gledsonmelotti]

I believe that there is a small flaw in the data_classes.py file in the LidarPointCloud class (PointCloud). Because not all files that I tried to get have the same format for the reshape ((- - 1, 5)) [:,: cls.nbr_dims ()], that is, points = scan.reshape ((- -, 5) ) [:,: cls.nbr_dims ()]. I encountered such a problem in scene 21. So, I replaced the LidarPointCloud (PointCloud) class with:

class LidarPointCloud(PointCloud):
@staticmethod
def nbr_dims() -> int:
    """Returns the number of dimensions.

    Returns: Number of dimensions.

    """
    return 4

@classmethod
def from_file(cls, file_name: Path) -> "LidarPointCloud":
    """Loads LIDAR data from binary numpy format. Data is stored as (x, y, z, intensity, ring index).

    Args:
        file_name: Path of the pointcloud file on disk.

    Returns: LidarPointCloud instance (x, y, z, intensity).

    """

    assert file_name.suffix == ".bin", "Unsupported filetype {}".format(file_name)

    scan = np.fromfile(str(file_name), dtype=np.float32)
    if len(scan) % 5 == 0:
        points = scan.reshape((-1, 5))[:, : cls.nbr_dims()]
    else:
        scan0=[]
        scan1=[]
        scan2=[]
        scan3=[]
        scan4=[]
        scan_pontos = []
        scan_pontos = scan.reshape((-1, 1))
        dv = 0
        for divisao in range(math.floor(len(scan)/5)):
            if (dv+4)<=len(scan):
                scan0.append(scan_pontos[dv])
                scan1.append(scan_pontos[dv+1])
                scan2.append(scan_pontos[dv+2])
                scan3.append(scan_pontos[dv+3])
                scan4.append(scan_pontos[dv+4])
            dv = dv+5
        points = np.concatenate((scan0,scan1,scan2,scan3),axis=1)
    return cls(points.T)

I I believe that now I got the correct point cloud values.