Initialize from serialized content. :param content: A dictionary with the serialized content of the box. :param box_cls: The

This function identifies if an obstacle is present in front of the reference actor

前向过程：加噪

Downsample the route by some factor. :param route: the trajectory , has to contain the waypoints and the road options :param sample_facto

Downsample the route by some factor. :param route: the trajectory , has to contain the waypoints and the road options :param sample_facto

Draws all the scenario trigger positions. Each scenario is of a specific color

Draw a list of waypoints at a certain height given in z. :param world: carla.world object :param waypoints: list or iterable con

Performs the actual evaluation. :return: A tuple of high-level and the raw metric data.

Searches through the 'scenarios' folder for all the Python classes

Get available scenes from the input nuscenes class. Given the raw data, get the information of available scenes for further info generation.

Get available scenes from the input nuscenes class. Given the raw data, get the information of available scenes for further info generation.

Get available scenes from the input nuscenes class. Given the raw data, get the information of available scenes for further info generation.

Get available scenes from the input nuscenes class. Given the raw data, get the information of available scenes for further info generation.

Retrieve the corresponding axis based on the index.

Uses the same condition as in route_scenario to see if they will be differentiated

Read the queue to get the sensors data

Returns the data of a sensor

This function finds the distance between actors for different use cases described by distance_type and freespace attributes

Extract drivable area contours to get list of boundaries. Args: drivable_areas (list): list of drivable areas. roi_size (tuple):

Returns a float with the elapsed time of a specific frame.

Obtain a intersection point between two actor's location by using their waypoints (wp) @return point of intersection of the two vehicles