sdb</span><span class="p">:</span> <span class="n">SynchronizationDB</span><span class="p">,</span>
    <span class="n">lidar_points</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span>
    <span class="n">city_to_egovehicle_se3</span><span class="p">:</span> <span class="n">SE3</span><span class="p">,</span>
    <span class="n">dataset_map</span><span class="p">:</span> <span class="n">ArgoverseMap</span><span class="p">,</sp