def __call__(self, results):
        """Call function to load points data from file.

        Args:
            results (dict): Result dict containing point clouds data.

        Returns:
            dict: The result dict containing the point clouds data. \
                Added key and value are described below.

                - points (:obj:`BasePoints`): Point clouds data.
        """
        lidar_path = results["pts_filename"]
        points = self._load_points(lidar_path)
        points = points.reshape(-1, self.load_dim)
        # TODO: make it more general
        if self.reduce_beams and self.reduce_beams < 32:
            points = reduce_LiDAR_beams(points, self.reduce_beams)
        points = points[:, self.use_dim]
        attribute_dims = None

        if self.shift_height:
            floor_height = np.percentile(points[:, 2], 0.99)
            height = points[:, 2] - floor_height
            points = np.concatenate(
                [points[:, :3], np.expand_dims(height, 1), points[:, 3:]], 1
            )
            attribute_dims = dict(height=3)

        if self.use_color:
            assert len(self.use_dim) >= 6
            if attribute_dims is None:
                attribute_dims = dict()
            attribute_dims.update(
                dict(
                    color=[
                        points.shape[1] - 3,
                        points.shape[1] - 2,
                        points.shape[1] - 1,
                    ]
                )
            )

        points_class = get_points_type(self.coord_type)
        points = points_class(
            points, points_dim=points.shape[-1], attribute_dims=attribute_dims
        )
        results["points"] = points

        return results
Call function to load points data from file.

        Args:
            results (dict): Result dict containing point clouds data.

        Returns:
            dict: The result dict containing the point clouds data.                 Added key and value are described below.

                - points (:obj:`BasePoints`): Point clouds data.
        
projects/mmdet3d_plugin/datasets/pipelines/loading.py