def gen(out,griding_num = 100,localization_type='rel'):
out = out.data.cpu().numpy()
out_loc = np.argmax(out,axis=0)
if localization_type == 'rel':
out =out[:-1, :, :]
out = np.exp(out) / np.sum(np.exp(out), axis=0)
prob = out
print(prob)
idx = np.arange(griding_num)
idx = idx.reshape(-1, 1, 1)
loc = np.sum(prob * idx, axis=0)
loc[out_loc == griding_num] = griding_num
out_loc = loc
lanes = []
for i in range(out_loc.shape[1]):
out_i = out_loc[:,i]
lane = [int(round((loc + 0.5) * 1280.0 / (griding_num - 1))) if loc != griding_num else -2 for loc in out_i]
lanes.append(lane)
return lanes