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Project map to image, resolves #188 #195
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Reviewed changes without running code. All changes are well documented and are easily understood.
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Looks good. I left some minor comments. I also noticed that the nuScenes tutorial does not mention anything about the map_expansion tutorial. Should we keep the tutorials together or at least add a comment in the main tutorial about the map expansion package?
This PR addresses the previously requested feature to project semantic map layers into the camera image view. The main difficulty here is to figure out what to do with polygons where some points are behind the camera. Note that the projections are not always accurate as the localization is in 2d.
An example was added to the tutorial.
A video with some renderings can be found at: https://www.youtube.com/watch?v=wUBdMrnL6BU&feature=youtu.be