Correspondence of the variable ego_waypoint in submission_agent.py

[MCUBE-2023]

Dear authors, I have this question:

In model.py there's the forward function that has the variable ego_waypoint in its definition: def forward(self, rgb, lidar_bev, ego_waypoint, target_point, target_point_image, ego_vel, bev, label, depth, semantic, num_points=None, save_path=None, bev_points=None, cam_points=None):

I would like to use this function forward (which has been implemented in model.py) in the sumbission_agent.py instead of the function forward_ego to integrate the variable ego_waypoint in sumbission_agent.py. To this end, what will be the correspondence of the variable ego_waypoint in sumbission_agent.py ?

[Kait0]

ego_waypoint are the waypoint labels from the dataset. You can not use that at inference in the submission_agent.py

[MCUBE-2023]

Dear author, thank you so much for your reply. I still have this question, please:
In which file, we can find the ego_waypoint labels from the dataset ?

[Kait0]

The ego waypoints are computed in the data loader. They are not stored in the file directly, rather they are computed based on the position in the car stored in the next couple label raw files.