Allowing for features (e.g. intensity) for semantickitti datasets. Needs in_channels >= 4 in config. (#665)

See #664.

Co-authored-by: john-philipp <>

Author: john-philipp

ml3d/datasets/semantickitti.py

@@ -282,7 +282,7 @@ def get_data(self, idx):
 
         data = {
             'point': points[:, 0:3],
-            'feat': None,
+            'feat': points[:, 3:],
             'label': labels,
         }