l5kit.rasterization.satellite_rasterizer module

class l5kit.rasterization.satellite_rasterizer.SatelliteRasterizer(render_context: l5kit.rasterization.render_context.RenderContext, map_im: numpy.ndarray, world_to_aerial: numpy.ndarray, interpolation: int = 1)

Bases: l5kit.rasterization.rasterizer.Rasterizer

This rasterizer takes a satellite image in its constructor and a transform from world coordinates to this image. When you call rasterize, it will return a crop around the agent of interest with the agent’s forward vector pointing right for the current timestep.

num_channels() → int

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

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