l5kit.sampling.slicing module

l5kit.sampling.slicing.get_future_slice(frame_index: int, future_num_states: int, future_step_size: int) → slice

Given a frame index and future settings returns a slice that returns the given data in the right order. Note that this history returned starts with the most “recent” frame first (e.g. current_frame``+``future_step_size).

Example: frame_index=20, future_num_states=2, future_step_size=2 would return a slice for frame index 22, 24.

Parameters

  • state_index (int) – The “anchor” frame index you want to sample from

  • future_num_states (int) – Number of future frames.

  • future_step_size (int) – How many frames to step for each future step.

Raises

IndexError – Returned when future_step_size is an invalid value (e.g. 0).

Returns

slice – Slice that when applied to an array returns the future frames in the right order.

l5kit.sampling.slicing.get_history_slice(frame_index: int, history_num_states: int, history_step_size: int, include_current_state: bool = False) → slice

Given a frame index and history settings returns a slice that returns the given data in the right order. Note that this history returned starts with the most “recent” frame first (i.e. reverse in time as it’s history).

Example: frame_index=20, history_num_frames=2, history_step_size=2, include_current_state=True would return a slice for frame index 20, 18, 16.

Parameters

  • state_index (int) – The “anchor” frame index you want to sample from

  • history_num_states (int) – Number of history frames (not including the current frame).

  • history_step_size (int) – How many frames to step for each history step.

Keyword Arguments

include_current_state (bool) – Whether the slice should include frame_index (default: {False})

Raises

IndexError – Returned when history_step_size is an invalid value (e.g. 0).

Returns

slice – Slice that when applied to an array returns the history frames in the right order.