l5kit.visualization.visualizer.common module¶

class l5kit.visualization.visualizer.common.AgentVisualization(xs: numpy.ndarray, ys: numpy.ndarray, color: str, track_id: int, agent_type: str, prob: float)¶

Bases: tuple

Hold information about a single agent

Parameters

xs – 1D array of x coordinates
ys – 1D array of y coordinates
color – color of the lane as a string (both hex or text)
track_id – track id of the agent (unique in a scene)
agent_type – type of the agent as a string (e.g. pedestrian)
prob – probability of the agent from PCB

agent_type: str¶: Alias for field number 4

color: str¶: Alias for field number 2

prob: float¶: Alias for field number 5

track_id: int¶: Alias for field number 3

xs: numpy.ndarray¶: Alias for field number 0

ys: numpy.ndarray¶: Alias for field number 1

class l5kit.visualization.visualizer.common.CWVisualization(xs: numpy.ndarray, ys: numpy.ndarray, color: str)¶

Bases: tuple

Hold information about a single crosswalk

Parameters

xs – 1D array of x coordinates
ys – 1D array of y coordinates
color – color of the lane as a string (both hex or text)

color: str¶: Alias for field number 2

xs: numpy.ndarray¶: Alias for field number 0

ys: numpy.ndarray¶: Alias for field number 1

class l5kit.visualization.visualizer.common.EgoVisualization(xs: numpy.ndarray, ys: numpy.ndarray, color: str, center_x: float, center_y: float)¶

Bases: tuple

Hold information about a single ego annotation

Parameters

xs – 1D array of x coordinates
ys – 1D array of y coordinates
color – color of the lane as a string (both hex or text)
center_x – the center x coordinate of the ego bbox
center_y – the center y coordinate of the ego bbox

center_x: float¶: Alias for field number 3

center_y: float¶: Alias for field number 4

color: str¶: Alias for field number 2

xs: numpy.ndarray¶: Alias for field number 0

ys: numpy.ndarray¶: Alias for field number 1

class l5kit.visualization.visualizer.common.FrameVisualization(ego: l5kit.visualization.visualizer.common.EgoVisualization, agents: List[l5kit.visualization.visualizer.common.AgentVisualization], lanes: List[l5kit.visualization.visualizer.common.LaneVisualization], crosswalks: List[l5kit.visualization.visualizer.common.CWVisualization], trajectories: List[l5kit.visualization.visualizer.common.TrajectoryVisualization])¶

Bases: tuple

Hold information about a frame (the state of a scene at a given time)

Parameters

ego – a single ego annotation
agents – a list of agents
lanes – a list of lanes
crosswalks – a list of crosswalks
trajectories – a list of trajectories

agents: List[l5kit.visualization.visualizer.common.AgentVisualization]¶: Alias for field number 1

crosswalks: List[l5kit.visualization.visualizer.common.CWVisualization]¶: Alias for field number 3

ego: l5kit.visualization.visualizer.common.EgoVisualization¶: Alias for field number 0

lanes: List[l5kit.visualization.visualizer.common.LaneVisualization]¶: Alias for field number 2

trajectories: List[l5kit.visualization.visualizer.common.TrajectoryVisualization]¶: Alias for field number 4

class l5kit.visualization.visualizer.common.LaneVisualization(xs: numpy.ndarray, ys: numpy.ndarray, color: str)¶

Bases: tuple

Hold information about a single lane

Parameters

xs – 1D array of x coordinates
ys – 1D array of y coordinates
color – color of the lane as a string (both hex or text)

color: str¶: Alias for field number 2

xs: numpy.ndarray¶: Alias for field number 0

ys: numpy.ndarray¶: Alias for field number 1

class l5kit.visualization.visualizer.common.TrajectoryVisualization(xs: numpy.ndarray, ys: numpy.ndarray, color: str, legend_label: str, track_id: int)¶

Bases: tuple

Hold information about a single trajectory annotation

Parameters

xs – 1D array of x coordinates
ys – 1D array of y coordinates
color – color of the lane as a string (both hex or text)
legend_label – the name of this trajectory for the legend (e.g. ego_trajectory)
track_id – the track id of the associated agent

color: str¶: Alias for field number 2

legend_label: str¶: Alias for field number 3

track_id: int¶: Alias for field number 4

xs: numpy.ndarray¶: Alias for field number 0

ys: numpy.ndarray¶: Alias for field number 1