 class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="kn">from</span> <span class="nn">argoverse.visualization.colormap</span> <span class="k">import</span> <span class="n">colormap</span>
<span class="kn">from</span> <span class="nn">matplotlib.patches</span> <span class="k">import</span> <span class="n">Polygon</span>

<span class="n">plt</span><span class="o">.</span><span class="n">rcParams</span><span class="p">[</span><span class="s2">&quot;pdf.fonttype&quot;</span