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Update io.py #289

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7 changes: 4 additions & 3 deletions src/av2/utils/io.py
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Original file line number Diff line number Diff line change
Expand Up @@ -56,21 +56,22 @@ def read_lidar_sweep(fpath: Path, attrib_spec: str = "xyz") -> NDArrayFloat:
y -> point y-coord
z -> point z-coord

The following attributes are not loaded:
The following attributes can not be loaded with this function (use read_feather() with desired columns):
intensity -> point intensity/reflectance
laser_number -> laser number of laser from which point was returned
offset_ns -> nanosecond timestamp offset per point, from sweep timestamp.


Returns:
Array of shape (N, C). If attrib_str is invalid, `None` will be returned

Raises:
ValueError: If any element of `attrib_spec` is not in (x, y, z, intensity, laser_number, offset_ns).
ValueError: If any element of `attrib_spec` is not in (x, y, z).
"""
possible_attributes = ["x", "y", "z"]
if not all([a in possible_attributes for a in attrib_spec]):
raise ValueError(
"Attributes must be in (x, y, z, intensity, laser_number, offset_ns)."
"Attributes must be in (x, y, z)."
)

sweep_df = read_feather(fpath)
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