def _load_points(self, lidar_path):
        """Private function to load point clouds data.

        Args:
            lidar_path (str): Filename of point clouds data.

        Returns:
            np.ndarray: An array containing point clouds data.
        """
        mmcv.check_file_exist(lidar_path)
        if self.load_augmented:
            assert self.load_augmented in ["pointpainting", "mvp"]
            virtual = self.load_augmented == "mvp"
            points = load_augmented_point_cloud(
                lidar_path, virtual=virtual, reduce_beams=self.reduce_beams
            )
        elif lidar_path.endswith(".npy"):
            points = np.load(lidar_path)
        else:
            points = np.fromfile(lidar_path, dtype=np.float32)
        return points
Private function to load point clouds data.

        Args:
            lidar_path (str): Filename of point clouds data.

        Returns:
            np.ndarray: An array containing point clouds data.
        
projects/mmdet3d_plugin/datasets/pipelines/loading.py