.d2-730855887 .color-AB5{color:#F7F8FE;}.appendix text.text{fill:#0A0F25}.md{--color-fg-default:#0A0F25;--color-fg-muted:#676C7E;--color-fg-subtle:#9499AB;--color-canvas-default:#FFFFFF;--color-canvas-subtle:#EEF1F8;--color-border-default:#0D32B2;--color-border-muted:#0D32B2;--color-neutral-muted:#EEF1F8;--color-accent-fg:#0D32B2;--color-accent-emphasis:#0D32B2;--color-attention-subtle:#676C7E;--color-danger-fg:red;}.sketch-overlay-B1{fill:url(#streaks-darker-d2-730855887);mix-blend-mode:lighten}.sketch-overlay-B2{fill:url(#streaks-darker-d2-730855887);mix-blend-mode:lighten}.sketch-overlay-B3{fill:url(#streaks-bright-d2-730855887);mix-blend-mode:darken}.sketch-overlay-B4{fill:url(#streaks-bright-d2-730855887);mix-blend-mode:darken}.sketch-overlay-B5{fill:url(#streaks-bright-d2-730855887);mix-blend-mode:darken}.sketch-overlay-B6{fill:url(#streaks-bright-d2-730855887);mix-blend-mode:darken}.sketch-overlay-AA2{fill:url(#streaks-dark-d2-730855887);mix-blend-mode:overlay}.sketch-overlay-AA4{fill:url(#streaks-bright-d2-730855887);mix-blend-mode:darken}.sketch-overlay-AA5{fill:url(#streaks-bright-d2-730855887);mix-blend-mode:darken}.sketch-overlay-AB4{fill:url(#streaks-bright-d2-730855887);mix-blend-mode:darken}.sketch-overlay-AB5{fill:url(#streaks-bright-d2-730855887);mix-blend-mode:darken}.sketch-overlay-N1{fill:url(#streaks-darker-d2-730855887);mix-blend-mode:lighten}.sketch-overlay-N2{fill:url(#streaks-dark-d2-730855887);mix-blend-mode:overlay}.sketch-overlay-N3{fill:url(#streaks-normal-d2-730855887);mix-blend-mode:color-burn}.sketch-overlay-N4{fill:url(#streaks-normal-d2-730855887);mix-blend-mode:color-burn}.sketch-overlay-N5{fill:url(#streaks-bright-d2-730855887);mix-blend-mode:darken}.sketch-overlay-N6{fill:url(#streaks-bright-d2-730855887);mix-blend-mode:darken}.sketch-overlay-N7{fill:url(#streaks-bright-d2-730855887);mix-blend-mode:darken}.light-code{display: block}.dark-code{display: none}]]>Populate the `centerlines` tableGUI: Render the 3D bird's-eye view of the scene3D bird's-eye viewerInputsOutput tableTablesGUI elementNuScenesMapAPIcenterlinesscene_tokenTEXTFKlane_tokenTEXTPKpoint_idxINTEGERPKxREALyREALego_posesobject_posescenterlines3D bird's-eye viewer Renders the ego and every tracked actor aswireframe boxes (coloured by category) for thecurrent keyframe, with HD-map lane centerlinesoverlaid as green polylines. lane centerline polylines(one row per vertex)ego_x/y/z,ego_qw/qx/qy/qzx/y/z,qw/qx/qy/qz, w/l/hlane (x, y) polylines

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