Transform_train for custom dataset

[PrarthanaShah]

I am trying to train a custom dataset. For that I am using custo,.py script and hence the 'type' in config.yaml is set to 'custom'. I would like to know that under what circumstances the crop method generates 0 valid_idxs? Also, what is the use of 'xyz = xyz_middle * self.voxel_cfg.scale' in transform_train method?

[thangvubk]

The custom dataset is the base dataset only. For specific custom dataset, you may need to write additional dataset class.
xyz = xyz_middle * self.voxel_cfg.scale is to transform point scale to voxel scale before doing some transformations.