def METHOD_NAME(self, idx):
    pc_path = self.path_list[idx]
    points = DataProcessing.load_pc_kitti(pc_path)
    folder, file = split(pc_path)
    label_path = (
        join(folder, file[:-4] + ".label") if self.predicting else join(folder, "../labels", file[:-4] + ".label")
    )
    if not exists(label_path):
        labels = np.zeros(np.shape(points)[0], dtype=np.int32)
        if self.split not in ["test", "all"]:
            raise FileNotFoundError(f" Label file {label_path} not found")
    else:
        labels = DataProcessing.load_label_kitti(label_path, self.remap_lut_val).astype(np.int32)
    return {
        "point": points[:, 0:3],
        "feat": None,
        "label": labels,
    }