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<?php
 
$category_id = '17,18,20,21,22';
$cat_ids = array_map('intval', explode(',',$category_id));
 
var_dump($cat_ids);

Success #stdin #stdout 0s 82560KB

stdin

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Standard input is empty

stdout

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array(5) {
  [0]=>
  int(17)
  [1]=>
  int(18)
  [2]=>
  int(20)
  [3]=>
  int(21)
  [4]=>
  int(22)
}

https://ideone.com/hI2f98

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