def _get_camera_feature(self, agent_input: AgentInput) -> torch.Tensor:
"""
Extract stitched camera from AgentInput
:param agent_input: input dataclass
:return: stitched front view image as torch tensor
"""
cameras = agent_input.cameras[-1]
# Crop to ensure 4:1 aspect ratio
l0 = cameras.cam_l0.image[28:-28, 416:-416]
f0 = cameras.cam_f0.image[28:-28]
r0 = cameras.cam_r0.image[28:-28, 416:-416]
# stitch l0, f0, r0 images
stitched_image = np.concatenate([l0, f0, r0], axis=1)
resized_image = cv2.resize(stitched_image, (1024, 256))
# resized_image = cv2.resize(stitched_image, (2048, 512))
tensor_image = transforms.ToTensor()(resized_image)
return tensor_image
