bird_grid_saver.ipynb

{
  "cells": [
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "view-in-github",
        "colab_type": "text"
      },
      "source": [
        "<a href=\"https://colab.research.google.com/github/jiheddachraoui/occupancy_grid_generator/blob/main/bird_grid_saver.ipynb\" target=\"_parent\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/></a>"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "iderI-dPJ7QJ"
      },
      "source": [
        "# PREPARATION"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "id": "FBjbCBkk6gI1",
        "colab": {
          "base_uri": "https://localhost:8080/"
        },
        "outputId": "6d8ab40f-c8f9-4f94-d1e7-c8bc0f814d48"
      },
      "outputs": [
        {
          "output_type": "stream",
          "name": "stdout",
          "text": [
            "Mounted at /content/drive\n"
          ]
        }
      ],
      "source": [
        "import os\n",
        "import sys\n",
        "import csv\n",
        "import numpy as np\n",
        "import cv2\n",
        "import matplotlib.pyplot as plt\n",
        "import time\n",
        "import tensorflow as tf\n",
        "from sklearn.linear_model import RANSACRegressor\n",
        "from scipy import stats\n",
        "from google.colab import drive\n",
        "drive.mount('/content/drive',force_remount=True)\n"
      ]
    },
    {
      "cell_type": "code",
      "source": [
        "datadir = '/content/drive/MyDrive/s_data/'\n",
        "scenario='ground truth/scenario4_gt/'\n",
        "\n",
        "\n",
        "    \n",
        "for item in os.listdir(os.path.join(datadir,scenario)):\n",
        "    # Construct the full path to the item\n",
        "    item_path = os.path.join(os.path.join(datadir,scenario), item)\n",
        "    # Check if the item is a directory\n",
        "    if os.path.isdir(item_path) and item != '.ipynb_checkpoints':\n",
        "        # Print the path of the subdirectory\n",
        "        print(item_path)\n",
        "        \n"
      ],
      "metadata": {
        "colab": {
          "base_uri": "https://localhost:8080/"
        },
        "id": "gu1FbSfH4R6f",
        "outputId": "cc74d0f1-58fd-4673-d2aa-a56d8baedf7f"
      },
      "execution_count": null,
      "outputs": [
        {
          "output_type": "stream",
          "name": "stdout",
          "text": [
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3\n"
          ]
        }
      ]
    },
    {
      "cell_type": "code",
      "source": [
        "vehicles=[]\n",
        "for item in os.listdir(os.path.join(datadir,scenario)):\n",
        "    # Construct the full path to the item\n",
        "    if os.path.isdir(item_path) and item != '.ipynb_checkpoints':\n",
        "        folder_path = os.path.join(os.path.join(datadir,scenario), item)\n",
        "        lidar_path=folder_path+'/bird_lidar'\n",
        "        img_path=folder_path+'/bird_eye'\n",
        "        save_path=folder_path+'/bird_grid_gt'\n",
        "        if not os.path.exists(save_path):\n",
        "            os.makedirs(save_path)\n",
        "        num_files = len([f for f in os.listdir(lidar_path) if os.path.isfile(os.path.join(lidar_path, f))])\n",
        "        print('Number of files in {} :'.format(lidar_path), num_files)\n",
        "        vehicles.append((lidar_path,num_files,save_path))"
      ],
      "metadata": {
        "colab": {
          "base_uri": "https://localhost:8080/"
        },
        "id": "C69xP8yQzhE7",
        "outputId": "80d03e7b-00f3-46d1-ae28-94c510b5cdc5"
      },
      "execution_count": null,
      "outputs": [
        {
          "output_type": "stream",
          "name": "stdout",
          "text": [
            "Number of files in /content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_lidar : 89\n",
            "Number of files in /content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_lidar : 89\n",
            "Number of files in /content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_lidar : 89\n"
          ]
        }
      ]
    },
    {
      "cell_type": "code",
      "source": [
        "vehicles"
      ],
      "metadata": {
        "colab": {
          "base_uri": "https://localhost:8080/"
        },
        "id": "aB0lOZT446Yn",
        "outputId": "c1c35811-d6b7-42e3-d797-83cd81d60f05"
      },
      "execution_count": null,
      "outputs": [
        {
          "output_type": "execute_result",
          "data": {
            "text/plain": [
              "[('/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_lidar',\n",
              "  89,\n",
              "  '/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt'),\n",
              " ('/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_lidar',\n",
              "  89,\n",
              "  '/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt'),\n",
              " ('/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_lidar',\n",
              "  89,\n",
              "  '/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt')]"
            ]
          },
          "metadata": {},
          "execution_count": 20
        }
      ]
    },
    {
      "cell_type": "code",
      "source": [
        "ALPHA = 1\n",
        "BHETA = 1*np.pi/180\n",
        "RESOLUTION = 0.1\n",
        "MAX_RANGE = 70\n",
        "MAP_WIDTH = 100\n",
        "SPHERICAL2CARTESIAN_BIAS = 6\n",
        "### Some derived parameters\n",
        "# OOR_MASK = A mask to filter out measurements that are out of MAX_RANGE\n",
        "MAP_SIZE_X = int(MAP_WIDTH/RESOLUTION)\n",
        "MAP_SIZE_Y = int(MAP_WIDTH/RESOLUTION)\n",
        "xarr = np.arange(-MAP_WIDTH/2,MAP_WIDTH/2,RESOLUTION)\n",
        "yarr = np.arange(-MAP_WIDTH/2,MAP_WIDTH/2,RESOLUTION)\n",
        "MAP_XX, MAP_YY = np.meshgrid(xarr, -yarr)\n",
        "rgrid = np.sqrt(np.add(np.square(MAP_XX),np.square(MAP_YY)))\n",
        "OOR_MASK = rgrid >= MAX_RANGE"
      ],
      "metadata": {
        "id": "y1MH7VTN_BiY"
      },
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "source": [
        "def filter_road_points(lidar_in, is_road, threshold=0.5):\n",
        "  y_true = lidar_in[:,1]\n",
        "  y_pred = np.zeros_like(y_true)\n",
        "  \n",
        "  y_pred = y_true * is_road  # set road points' predicted height to true height\n",
        "  delta_y = np.absolute(y_true-y_pred).flatten()\n",
        "  is_not_road = delta_y > threshold\n",
        "  lidar_out = lidar_in[is_not_road,:].copy()\n",
        "  return lidar_out"
      ],
      "metadata": {
        "id": "OcM0SMNa-2qx"
      },
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "source": [
        "def generate_semantic_ogm(lidar_in, ogm_shape):\n",
        "  ### Calculate the position of LiDAR points in spherical coordinate\n",
        "    rphi_meas = np.zeros((lidar_in.shape[0], 3))\n",
        "    rphi_meas[:, 1] = np.sqrt(np.add(np.square(lidar_in[:, 0]), np.square(lidar_in[:, 1]))) / ALPHA\n",
        "    rphi_meas[:, 0] = (np.arctan2(lidar_in[:, 1], lidar_in[:, 0]) + np.pi) / BHETA\n",
        "    rphi_meas[:, 2]=lidar_in[:,2]\n",
        "    \n",
        "    rphi_meas = np.unique(rphi_meas.astype(int), axis=0)\n",
        "    rphi_meas = rphi_meas[rphi_meas[:, 1] < int(MAX_RANGE / ALPHA), :]\n",
        "    rphi_meas = rphi_meas[rphi_meas[:, 0] < int(2 * np.pi / BHETA), :]\n",
        "\n",
        "    ### Initiate and fill the spherical scan grid\n",
        "    sg_ang_bin = int(2 * np.pi / BHETA)\n",
        "    sg_rng_bin = int(MAX_RANGE / ALPHA)\n",
        "    # Initiation (Condition 3)\n",
        "    \n",
        "    scan_grid = np.ones((sg_ang_bin, sg_rng_bin)) * 0.5\n",
        "    label_grid = np.zeros((sg_ang_bin, sg_rng_bin))\n",
        "    # Condition 1\n",
        "    \n",
        "    scan_grid[tuple(rphi_meas[:,[0,1]].T)] = 0.7\n",
        "    for i in range(rphi_meas.shape[0]):\n",
        "      ang = rphi_meas[i, 0]\n",
        "      rng = rphi_meas[i, 1]\n",
        "      label = rphi_meas[i, 2]\n",
        "      label_grid[int(ang), int(rng)] = label\n",
        "    \n",
        "    # Condition 2\n",
        "    \n",
        "    for ang in range(sg_ang_bin):\n",
        "        ang_arr = rphi_meas[rphi_meas[:, 0] == ang, 1]\n",
        "        \n",
        "        if len(ang_arr) == 0:\n",
        "            scan_grid[ang, :] = 0.3\n",
        "           \n",
        "            label_grid[ang, :] = 1\n",
        "        else:\n",
        "            min_r = np.min(ang_arr)\n",
        "            scan_grid[ang, :min_r] = 0.3\n",
        "            \n",
        "            label_arr = rphi_meas[rphi_meas[:, 0] == ang, 2]\n",
        "            label_grid[ang, :(min_r)] = 1\n",
        "\n",
        "    ### Convert the spherical scan grid to the cartesian one\n",
        "    ogm_sz = (ogm_shape[1], ogm_shape[0])\n",
        "    ogm_cen = (int(ogm_shape[1] / 2), int(ogm_shape[0] / 2))\n",
        "    radius = (MAX_RANGE / RESOLUTION) + SPHERICAL2CARTESIAN_BIAS\n",
        "    ogm_step = cv2.warpPolar(scan_grid, ogm_sz, ogm_cen, radius, cv2.WARP_INVERSE_MAP)\n",
        "    label_step = cv2.warpPolar(label_grid, ogm_sz, ogm_cen, radius, cv2.WARP_INVERSE_MAP)\n",
        "    ogm_step[OOR_MASK] = 0.5\n",
        "    label_step[OOR_MASK] = 0\n",
        "    ogm_step = cv2.rotate(ogm_step, cv2.ROTATE_90_CLOCKWISE)\n",
        "    label_step = cv2.rotate(label_step, cv2.ROTATE_90_CLOCKWISE)\n",
        "    ogm_step = np.dstack([ogm_step, label_step])\n",
        "    \n",
        "    return ogm_step"
      ],
      "metadata": {
        "id": "4HY7gN5W_hM_"
      },
      "execution_count": null,
      "outputs": []
    },
    {
      "cell_type": "code",
      "source": [
        "for item in vehicles:    \n",
        "  print(item)    \n",
        "  for  i in range(item[1]):\n",
        "    lidar_path=item[0]\n",
        "    save_path=item[2]\n",
        "    if not os.path.exists(save_path):\n",
        "      os.makedirs(save_path)\n",
        "\n",
        "    if  os.path.exists(save_path+'/{}.npy'.format(i)):\n",
        "            print(\"File {} is already created. Skipping item...\".format(i))\n",
        "            \n",
        "            continue\n",
        "    if not os.path.exists(lidar_path+'/{}.npy'.format(i)):\n",
        "            print(\"File {} not found. Skipping item...\".format(i))\n",
        "            all_files_exist = False\n",
        "            continue\n",
        "    data=np.load(lidar_path+'/{}.npy'.format(i))\n",
        "    lidar_raw=data.reshape(-1, 6)\n",
        "      \n",
        "      \n",
        "    lidar_raw=lidar_raw[(lidar_raw[:, 2] <= -40) | (lidar_raw[:, 2] >= -37), :]\n",
        "\n",
        "\n",
        "    # Define the radius (in meters)\n",
        "    radius = 3\n",
        "\n",
        "    # Calculate the Euclidean distance between each point in the point cloud and the lidar sensor position\n",
        "    distances = np.sqrt((lidar_raw[:, 0])**2 + (lidar_raw[:, 1])**2)\n",
        "\n",
        "    # Filter out all the points that are within the radius of the lidar sensor position\n",
        "    lidar_raw = lidar_raw[distances > radius, :]\n",
        "\n",
        "\n",
        "\n",
        "    intensity = np.array(lidar_raw[:, 3])\n",
        "    labels=np.array(lidar_raw[:, 5]).astype(int)\n",
        "    \n",
        "    lidar_labeled=np.array(lidar_raw[..., [0, 1, 2, 5]])\n",
        "\n",
        "    lidar_raw = lidar_raw[:, :3]\n",
        "\n",
        "    road_filter=np.zeros_like(labels)\n",
        "    road_filter[(labels == 0) | (labels == 7) | (labels == 6)] = 1\n",
        "    \n",
        "    reduced_labels=np.zeros_like(labels)\n",
        "    reduced_labels[(labels == 7) | (labels == 6)] = 1\n",
        "    reduced_labels[(labels == 1)| (labels == 2) | (labels == 11) | (labels == 19)] = 2\n",
        "    reduced_labels[(labels == 3)| (labels == 15) | (labels == 17) | (labels == 18)] = 3\n",
        "    reduced_labels[(labels == 5)| (labels == 18) | (labels == 19)] = 4\n",
        "    reduced_labels[(labels == 9)] = 5\n",
        "    reduced_labels[(labels == 4)| (labels == 10) | (labels == 20)] = 6\n",
        "    reduced_labels[(labels == 8)| (labels == 14) | (labels == 22)] = 7\n",
        "    reduced_labels[(labels == 21)] = 8  \n",
        "\n",
        "\n",
        "\n",
        "    lidar_rlabeled = np.concatenate((lidar_raw, reduced_labels[..., np.newaxis]), axis=-1) \n",
        "\n",
        "    lidar_nonroad_labeled = filter_road_points(lidar_rlabeled,road_filter,0.1)  \n",
        "    \n",
        "\n",
        "    ### Initialize OGM\n",
        "    ogm_time_0 = np.ones((MAP_SIZE_Y,MAP_SIZE_X,2)) \n",
        "\n",
        "    ### Only use the x-z axis of the point (ignore the height axis)\n",
        "    lidar_ogm = lidar_nonroad_labeled[:,[0,1,3]]\n",
        "\n",
        "\n",
        "    ogm_step = generate_semantic_ogm(lidar_ogm,ogm_time_0.shape)\n",
        "    np.save(save_path+'/{}.npy'.format(i),ogm_step)\n",
        "    print(save_path+'/{}.npy'.format(i))\n",
        "    '''### Visualize\n",
        "    fig,axs = plt.subplots(figsize=(12,6))\n",
        "    plt.imshow(((1-ogm_step[:, :, 0])*255).astype(np.uint8),cmap='gray')\n",
        "    plt.show()'''"
      ],
      "metadata": {
        "id": "RdI9iz9X6QJy",
        "colab": {
          "base_uri": "https://localhost:8080/"
        },
        "outputId": "a834bdb7-eb93-4771-9f7c-dbcb2423b51f"
      },
      "execution_count": null,
      "outputs": [
        {
          "output_type": "stream",
          "name": "stdout",
          "text": [
            "('/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_lidar', 89, '/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt')\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/0.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/1.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/2.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/3.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/4.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/5.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/6.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/7.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/8.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/9.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/10.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/11.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/12.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/13.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/14.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/15.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/16.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/17.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/18.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/19.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/20.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/21.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/22.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/23.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/24.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/25.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/26.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/27.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/28.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/29.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/30.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/31.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/32.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/33.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/34.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/35.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/36.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/37.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/38.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/39.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/40.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/41.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/42.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/43.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/44.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/45.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/46.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/47.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/48.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/49.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/50.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/51.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/52.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/53.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/54.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/55.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/56.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/57.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/58.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/59.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/60.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/61.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/62.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/63.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/64.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/65.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/66.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/67.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/68.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/69.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/70.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/71.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/72.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/73.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/74.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/75.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/76.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/77.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/78.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/79.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/80.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/81.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/82.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/83.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/84.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/85.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/86.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/87.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Ego_1 vehicle.audi.a2/bird_grid_gt/88.npy\n",
            "('/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_lidar', 89, '/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt')\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/0.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/1.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/2.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/3.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/4.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/5.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/6.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/7.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/8.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/9.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/10.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/11.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/12.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/13.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/14.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/15.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/16.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/17.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/18.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/19.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/20.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/21.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/22.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/23.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/24.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/25.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/26.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/27.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/28.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/29.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/30.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/31.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/32.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/33.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/34.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/35.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/36.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/37.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/38.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/39.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/40.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/41.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/42.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/43.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/44.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/45.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/46.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/47.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/48.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/49.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/50.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/51.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/52.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/53.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/54.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/55.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/56.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/57.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/58.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/59.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/60.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/61.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/62.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/63.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/64.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/65.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/66.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/67.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/68.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/69.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/70.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/71.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/72.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/73.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/74.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/75.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/76.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/77.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/78.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/79.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/80.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/81.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/82.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/83.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/84.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/85.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/86.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/87.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_2 vehicle.mini.cooper_s/bird_grid_gt/88.npy\n",
            "('/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_lidar', 89, '/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt')\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/0.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/1.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/2.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/3.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/4.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/5.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/6.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/7.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/8.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/9.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/10.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/11.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/12.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/13.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/14.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/15.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/16.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/17.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/18.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/19.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/20.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/21.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/22.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/23.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/24.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/25.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/26.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/27.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/28.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/29.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/30.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/31.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/32.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/33.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/34.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/35.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/36.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/37.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/38.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/39.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/40.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/41.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/42.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/43.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/44.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/45.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/46.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/47.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/48.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/49.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/50.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/51.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/52.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/53.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/54.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/55.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/56.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/57.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/58.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/59.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/60.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/61.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/62.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/63.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/64.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/65.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/66.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/67.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/68.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/69.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/70.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/71.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/72.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/73.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/74.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/75.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/76.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/77.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/78.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/79.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/80.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/81.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/82.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/83.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/84.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/85.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/86.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/87.npy\n",
            "/content/drive/MyDrive/s_data/ground truth/scenario4_gt/Vehicle_1 vehicle.tesla.model3/bird_grid_gt/88.npy\n"
          ]
        }
      ]
    }
  ],
  "metadata": {
    "colab": {
      "provenance": [],
      "include_colab_link": true
    },
    "kernelspec": {
      "display_name": "Python 3.8.10 ('.env': venv)",
      "language": "python",
      "name": "python3"
    },
    "language_info": {
      "name": "python",
      "version": "3.8.10"
    },
    "vscode": {
      "interpreter": {
        "hash": "4147159148f2331f27fc35f83760ac3303b0eb37178f521715f234bfc6af8027"
      }
    }
  },
  "nbformat": 4,
  "nbformat_minor": 0
}