def parse_one_object(instance_idx):
            """Parse one instance in kitti format and convert them to `Object`
            proto.
            Args:
                instance_idx (int): Index of the instance to be converted.
            Returns:
                :obj:`Object`: Predicted instance in waymo dataset \
                    Object proto.
            """
            cls = kitti_result['name'][instance_idx]
            length = round(kitti_result['dimensions'][instance_idx, 0], 4)
            height = round(kitti_result['dimensions'][instance_idx, 1], 4)
            width = round(kitti_result['dimensions'][instance_idx, 2], 4)
            x = round(kitti_result['location'][instance_idx, 0], 4)
            y = round(kitti_result['location'][instance_idx, 1], 4)
            z = round(kitti_result['location'][instance_idx, 2], 4)
            rotation_y = round(kitti_result['rotation_y'][instance_idx], 4)
            score = round(kitti_result['score'][instance_idx], 4)

            # y: downwards; move box origin from bottom center (kitti) to
            # true center (waymo)
            y -= height / 2
            # frame transformation: kitti -> waymo
            x, y, z = self.transform(T_k2w, x, y, z)

            # different conventions
            heading = -(rotation_y + np.pi / 2)
            while heading < -np.pi:
                heading += 2 * np.pi
            while heading > np.pi:
                heading -= 2 * np.pi

            box = label_pb2.Label.Box()
            box.center_x = x
            box.center_y = y
            box.center_z = z
            box.length = length
            box.width = width
            box.height = height
            box.heading = heading

            o = metrics_pb2.Object()
            o.object.box.CopyFrom(box)
            o.object.type = self.k2w_cls_map[cls]
            o.score = score

            o.context_name = context_name
            o.frame_timestamp_micros = frame_timestamp_micros

            return o
Parse one instance in kitti format and convert them to `Object`
            proto.
            Args:
                instance_idx (int): Index of the instance to be converted.
            Returns:
                :obj:`Object`: Predicted instance in waymo dataset                     Object proto.
            
projects/mmdet3d_plugin/core/evaluation/kitti2waymo.py