l5kit.rasterization.rasterizer module

class l5kit.rasterization.rasterizer.Rasterizer

Bases: abc.ABC

Base class for something that takes a single state of the world, and outputs a (multi-channel) image.

abstract num_channels() → int

abstract rasterize(history_frames: numpy.ndarray, history_agents: List[numpy.ndarray], history_tl_faces: List[numpy.ndarray], agent: Optional[numpy.ndarray] = None) → numpy.ndarray

abstract to_rgb(in_im: numpy.ndarray, **kwargs: dict) → numpy.ndarray