FRAME_DTYPE = [
(“timestamp”, np.int64), // Time the frame occurred.
(“agent_index_interval”, np.int64, (2,)), // Agents contained within the scene.
(“ego_translation”, np.float32, (3,)), // Position of ego vehicle, used for image generation and pose transformations.
(“ego_rotation”, np.float32, (3, 3)), // Rotation of ego vehicle, used for image generation and pose transformations.
]
AGENT_DTYPE = [
(“centroid”, np.float32, (2,)), // Center of the agent.
(“extent”, np.float32, (3,)), // Size of agent.
(“yaw”, np.float32), // Agent heading.
(“velocity”, np.float32, (2,)), // Agent velocity (relative to heading, x is forward, y is left)
(“track_id”, np.int32), // Unique identifier for agent
(“label_probabilities”, np.float32, (len(LABELS),)), // Probability of the agent being a car, truck, pedestrian, etc.
]