lass="p">(</span>
    <span class="n">point_cloud_to_homogeneous</span><span class="p">,</span>
    <span class="n">project_lidar_to_img</span><span class="p">,</span>
    <span class="n">project_lidar_to_img_motion_compensated</span><span class="p">,</span>
<span class="p">)</span>
<span class="kn">from</span> <span class="nn">argoverse.utils.camera_stats</span> <span class="k">import</span> <span class="n">RING_CAMERA_LIST</span><span class="p">,</span> <span class="n">STEREO_CAMERA_LIST</span>
<span clas