Future trajectory encoding

[Alexwxwu]

What kind of future traj do we need for evaluation? ego-vehicle or surrounding vehicle?

utils.py line 80:
def getFuture(self, vehId, t,dsId): vehTrack = self.T[dsId-1][vehId-1].transpose() refPos = vehTrack[np.where(vehTrack[:, 0] == t)][0, 1:3] stpt = np.argwhere(vehTrack[:, 0] == t).item() + self.d_s enpt = np.minimum(len(vehTrack), np.argwhere(vehTrack[:, 0] == t).item() + self.t_f + 1) fut = vehTrack[stpt:enpt:self.d_s,1:3]-refPos return fut