text: from opencood.data_utils.pre_processor.base_preprocessor import BasePreprocessor
  from opencood.data_utils.pre_processor.voxel_preprocessor import VoxelPreprocessor
  from opencood.data_utils.pre_processor.bev_preprocessor import BevPreprocessor
  from opencood.data_utils.pre_processor.sp_voxel_preprocessor import SpVoxelPreprocessor
  
  __all__ = {
      'BasePreprocessor': BasePreprocessor,
      'VoxelPreprocessor': VoxelPreprocessor,
      'BevPreprocessor': BevPreprocessor,
      'SpVoxelPreprocessor': SpVoxelPreprocessor
  }
  
  
  def build_preprocessor(preprocess_cfg, train):
      process_method_name = preprocess_cfg['core_method']
      error_message = f"{process_method_name} is not found. " \
                       f"Please add your processor file's name in opencood/" \
                       f"data_utils/processor/init.py"
      assert process_method_name in ['BasePreprocessor', 'VoxelPreprocessor',
                                     'BevPreprocessor', 'SpVoxelPreprocessor'], \
          error_message
  
      processor = __all__[process_method_name](
          preprocess_params=preprocess_cfg,
          train=train
      )
  
      return processor
  