lidardata = batch['point_clouds'][2].squeeze()[2].numpy()
for ptind, pt in enumerate(lidardata.T):
if batch['point_clouds_labels'][2].squeeze()[2][ptind] in labels_allowed:
pts.append(pt)

In this code snippet, we are looking for the data inside the labels_allowed list but it is not defined anywhere in the code?

I believe this is a list of category types inside the point cloud annotations, and in our case it should be,
labels_allowed=[14,15,16,17,18,19,20, 21, 22, 23]

Is this okay or am I wrong?
If so, please suggest a solution.
Thanks in advance