def calculate_birds_eye_view_parameters(self, x_bounds, y_bounds, z_bounds):
        """
        Parameters
        ----------
            x_bounds: Forward direction in the ego-car.
            y_bounds: Sides
            z_bounds: Height

        Returns
        -------
            bev_resolution: Bird's-eye view bev_resolution
            bev_start_position Bird's-eye view first element
            bev_dimension Bird's-eye view tensor spatial dimension
        """
        bev_resolution = torch.tensor([row[2] for row in [x_bounds, y_bounds, z_bounds]])
        bev_start_position = torch.tensor([row[0] + row[2] / 2.0 for row in [x_bounds, y_bounds, z_bounds]])
        bev_dimension = torch.tensor([(row[1] - row[0]) / row[2] for row in [x_bounds, y_bounds, z_bounds]],
                                    dtype=torch.long)

        return bev_resolution, bev_start_position, bev_dimension

        Parameters
        ----------
            x_bounds: Forward direction in the ego-car.
            y_bounds: Sides
            z_bounds: Height

        Returns
        -------
            bev_resolution: Bird's-eye view bev_resolution
            bev_start_position Bird's-eye view first element
            bev_dimension Bird's-eye view tensor spatial dimension
        
projects/mmdet3d_plugin/VAD/planner/metric_stp3.py