camera.</span>

<span class="sd">    Args:</span>
<span class="sd">        sdb: instance of SynchronizationDB</span>
<span class="sd">        lidar_points: Numpy array of shape (N,3) in egovehicle frame</span>
<span class="sd">        city_to_egovehicle_se3: SE3 instance which takes a point in egovehicle frame and brings it into city frame</span>
<span class="sd">        dataset_map: Map dataset instance</span>
<span class="sd">        log_id: ID of the log</span>
<span class="sd">        city_name: A city&