l5kit.data.map_api module¶
- class l5kit.data.map_api.InterpolationMethod(value)¶
Bases:
enum.IntEnumAn enumeration.
- INTER_ENSURE_LEN = 1¶
- INTER_METER = 0¶
- class l5kit.data.map_api.MapAPI(protobuf_map_path: str, world_to_ecef: numpy.ndarray)¶
Bases:
object- static from_cfg(data_manager: l5kit.data.local_data_manager.DataManager, cfg: dict) l5kit.data.map_api.MapAPI¶
Build a MapAPI object starting from a config file and a data manager
- Parameters
data_manager – a data manager object ot resolve paths
cfg – the config dict
- Returns
a MapAPI object
- get_bounds() dict¶
For each elements of interest returns bounds [[min_x, min_y],[max_x, max_y]] and proto ids Coords are computed by the MapAPI and, as such, are in the world ref system.
- Returns
keys are classes of elements, values are dict with bounds and ids keys
- Return type
dict
- get_color_for_face(face_id: str) str¶
Utility function. It calls is_traffic_face_color for a set of colors until it gets an answer. If no color is found, then face_id is not the id of a traffic light face (and we raise ValueError).
- Parameters
face_id (str) – the element id
- Returns
the color as string for this traffic face
- Return type
str
- get_crosswalk_coords(element_id: str) dict¶
Get XYZ coordinates in world ref system for a crosswalk given its id lru_cached for O(1) access
- Parameters
element_id (str) – crosswalk element id
- Returns
a dict with the polygon coordinates as an (Nx3) XYZ array
- Return type
dict
- get_lane_as_interpolation(element_id: str, step: float, method: l5kit.data.map_api.InterpolationMethod) dict¶
Perform an interpolation of the left and right lanes and compute the midlane. See interpolate for details about the different interpolation methods
- Parameters
element_id (str) – lane id
step (float) – step param for the method
method (InterpolationMethod) – one of the accepted methods
- Returns
same as get_lane_coords but overwrite xyz values for the lanes
- Return type
dict
- get_lane_coords(element_id: str) dict¶
Get XYZ coordinates in world ref system for a lane given its id lru_cached for O(1) access
- Parameters
element_id (str) – lane element id
- Returns
a dict with the two boundaries coordinates as (Nx3) XYZ arrays
- Return type
dict
- get_lane_traffic_control_ids(element_id: str) set¶
- get_tl_feature_for_lane(lane_id: str, active_tl_face_to_color: dict) int¶
Get traffic light feature for a lane given its active tl faces and a constant priority map.
- static id_as_str(element_id: road_network_pb2.GlobalId) str¶
Get the element id as a string. Elements ids are stored as a variable len sequence of bytes in the protobuf
- Parameters
element_id (GlobalId) – the GlobalId in the protobuf
- Returns
the id as a str
- Return type
str
- static interpolate(xyz: numpy.ndarray, step: float, method: l5kit.data.map_api.InterpolationMethod) numpy.ndarray¶
Interpolate points based on cumulative distances from the first one. Two modes are available: INTER_METER: interpolate using step as a meter value over cumulative distances (variable len result) INTER_ENSURE_LEN: interpolate using a variable step such that we always get step values :param xyz: XYZ coords :type xyz: np.ndarray :param step: param for the interpolation :type step: float :param method: method to use to interpolate :type method: InterpolationMethod
- Returns
the new interpolated coordinates
- Return type
np.ndarray
- static is_crosswalk(element: road_network_pb2.MapElement) bool¶
Check whether an element is a valid crosswalk
- Parameters
element (MapElement) – a proto element
- Returns
True if the element is a valid crosswalk
- Return type
bool
- static is_lane(element: road_network_pb2.MapElement) bool¶
Check whether an element is a valid lane
- Parameters
element (MapElement) – a proto element
- Returns
True if the element is a valid lane
- Return type
bool
- is_traffic_face(element_id: str) bool¶
Check if the element is a traffic light face (of any color)
- Parameters
element_id (str) – the id (utf-8 encode) of the element
- Returns
True if the element is a traffic light face, False otherwise
- is_traffic_face_color(element_id: str, color: str) bool¶
Check if the element is a traffic light face of the given color
- Parameters
element_id (str) – the id (utf-8 encode) of the element
color (str) – the color to check
- Returns
True if the element is a traffic light face with the given color
- is_traffic_light(element_id: str) bool¶
Check if the element is a traffic light :param element_id: the id (utf-8 encode) of the element :type element_id: str
- Returns
True if the element is a traffic light
- unpack_deltas_cm(dx: Sequence[int], dy: Sequence[int], dz: Sequence[int], frame: road_network_pb2.GeoFrame) numpy.ndarray¶
Get coords in world reference system (local ENU->ECEF->world). See the protobuf annotations for additional information about how coordinates are stored
- Parameters
dx (Sequence[int]) – X displacement in centimeters in local ENU
dy (Sequence[int]) – Y displacement in centimeters in local ENU
dz (Sequence[int]) – Z displacement in centimeters in local ENU
frame (GeoFrame) – geo-location information for the local ENU. It contains lat and long origin of the frame
- Returns
array of shape (Nx3) with XYZ coordinates in world ref system
- Return type
np.ndarray