l5kit.rasterization.semantic_rasterizer module

class l5kit.rasterization.semantic_rasterizer.RasterEls(value)

Bases: enum.IntEnum

An enumeration.

CROSSWALK = 2
LANE_NOTL = 0
ROAD = 1
class l5kit.rasterization.semantic_rasterizer.SemanticRasterizer(render_context: l5kit.rasterization.render_context.RenderContext, semantic_map_path: str, world_to_ecef: numpy.ndarray)

Bases: l5kit.rasterization.rasterizer.Rasterizer

Rasteriser for the vectorised semantic map (generally loaded from json files).

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
render_semantic_map(center_in_world: numpy.ndarray, raster_from_world: numpy.ndarray, tl_faces: numpy.ndarray) → numpy.ndarray

Renders the semantic map at given x,y coordinates.

Parameters

  • center_in_world (np.ndarray) – XY of the image center in world ref system

  • raster_from_world (np.ndarray) –

Returns

RGB raster

Return type

np.ndarray

to_rgb(in_im: numpy.ndarray, **kwargs: dict) → numpy.ndarray
l5kit.rasterization.semantic_rasterizer.cv2_subpixel(coords: numpy.ndarray) → numpy.ndarray

Cast coordinates to numpy.int but keep fractional part by previously multiplying by 2**CV2_SHIFT cv2 calls will use shift to restore original values with higher precision

Parameters

coords (np.ndarray) – XY coords as float

Returns

XY coords as int for cv2 shift draw

Return type

np.ndarray

l5kit.rasterization.semantic_rasterizer.indices_in_bounds(center: numpy.ndarray, bounds: numpy.ndarray, half_extent: float) → numpy.ndarray

Get indices of elements for which the bounding box described by bounds intersects the one defined around center (square with side 2*half_side)

Parameters

  • center (float) – XY of the center

  • bounds (np.ndarray) – array of shape Nx2x2 [[x_min,y_min],[x_max, y_max]]

  • half_extent (float) – half the side of the bounding box centered around center

Returns

indices of elements inside radius from center

Return type

np.ndarray