| # BEVFormer Sample4 Dataset | |
| Self-contained four-frame continuous sample for the AidLite board demo. | |
| - Each frame contains six original nuScenes camera JPG files under `cameras/`. | |
| - `python/utils.py` preprocesses those JPG files on the board before backbone inference. | |
| - Small raw tensors are still included for BEVFormer metadata: `can_bus`, `shift`, `lidar2img`, and temporal rotation inputs. | |
| - frame 000 uses `encoder_scene_start` semantics. | |
| - frames 001-003 use `encoder_temporal` with the previous live `bev_embed`. | |
| - Paths in `asset_manifest.json` are relative to `/home/aidlux` when copied to the board. | |