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    Tqe	                  
   @   s  d dl Z d dlZd ddddd dddd	Zg dg d	g d
g dg dg dg dg dgZd ddddddZed ed  Zed ed  Zed ed  Zdd dddddZ	dZ
dZed ed  e ZdZdZd Zd Ze ee Ze ee Ze ee Zeg d!g d"g d#g d$gZeg d%g d&g d'g d$gZeg d(g d)g d*g d+gZejeZejeZejeZdS ),    N      i)	Z
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gRQ?)minXmaxXminYmaxYminZmaxZr   r
   r   r   r   r   ii`  #   g?g?)g1j	r~?g5gn7YLgRi{)gCL?g53GO?gTWCgNĲ)gx#rH
?gP~?gdWP?gѿ)r   r   r   r   )gQv0b?gl"?gD$~r   )g^XH
vgX?g69[Ġqr   )gC}?g""q?giͲ?r   )lK~@        g:@gqmzF@)r   r   gqe@guO?)r   r   g      ?g qȩh?)r   r   r   r   )mathnumpynpCLASS_NAME_TO_IDcolorsboundarybound_size_xbound_size_yZbound_size_zZboundary_back	BEV_WIDTH
BEV_HEIGHTDISCRETIZATIONTZvdvhZvwceilWHDarrayTr_velo_to_camR0P2linalginvZR0_invZTr_velo_to_cam_invpinvZP2_inv r+   r+   J/home/opencvuniv/work/pranav/ADAS_2_LIDAR/SFA3D/sfa/config/kitti_config.py<module>   sz   		
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