Check if a location is both within a certain distance from a reference object. By using 'angle_interval', the angle between the location and

Makes a lateral shift of the forward vector of a transform

:param pts_lidar: (N, 3) :return pts_img: (N, 2)

Map the validation dataset Table like name of file -> it's id in the W&B Table. Useful for - referencing artifacts for evaluation.

Conert pandaset pose dict to a numpy vector in order to pass it through the network

:param pts_lidar: (N, 3) :return pts_rect: (N, 3)

Register a new action to a callback hook Args: hook The callback hook name to register the action to

Args: rois: (M, 7 + C) points: (N, 3) sample_radius_with_roi: num_max_points_of_part: Returns: sampl

Return list of trainable params in `m`.

To support a custom dataset, implement this function to load the raw data (and labels), then transform them to the unified normative

Args: root_path: dataset_cfg: class_names: training: logger:

Args: root_path: dataset_cfg: class_names: training: logger:

This function builds a networkx graph representation of topology, creating several class attributes: - graph (networkx.DiGraph): netw

This function retrieves topology from the server as a list of road segments as pairs of waypoint objects, and processes the t

NMS according to center distance

Compute the type of topological connection between an active waypoint (current_waypoint) and a target waypoint (next_waypoint). :param c

Add new waypoints to the trajectory queue. :param k: how many waypoints to compute :return:

Returns 3D bounding box for a vehicle.

This method finds road segments that have an unconnected end, and adds them to the internal graph representation