def get_sample_indices(self):
        indices_batch = self.batch[self.current_pointer: self.current_pointer + self.sample_size]
        self.current_pointer += self.sample_size
        if self.current_pointer >= self.default_scene['max_scanning_points']:
            self.current_pointer = 0
            self.batch = torch.randperm(self.default_scene['max_scanning_points'])
        return indices_batch