Deep Imitation Learning paper outputs and transformations from image to world frame

[kargarisaac]

Hi,

I'm trying to simply output waypoints. I wonder how you transform (x,y) from image (bev) to ego local frame or world frame? I think these waypoints are needed for low-level controller (PID in Carla for example).

It would be great if you can share this part of the code or guide me.

Thank you