l5kit.visualization.visualizer.zarr_utils module

l5kit.visualization.visualizer.zarr_utils.episode_out_to_visualizer_scene_gym_cle(sim_out: l5kit.environment.envs.l5_env.EpisodeOutputGym, mapAPI: l5kit.data.map_api.MapAPI) → List[l5kit.visualization.visualizer.common.FrameVisualization]

Convert a episode output of closed loop gym into a scene we can visualize. The scene will include replayed and simulated trajectories for ego and agents when these are simulated.

Parameters

• sim_out – the simulation output of L5 gym close loop environment

• mapAPI – a MapAPI object

Returns

a list of FrameVisualization for the scene

l5kit.visualization.visualizer.zarr_utils.simulation_out_to_visualizer_scene(sim_out: l5kit.simulation.unroll.SimulationOutput, mapAPI: l5kit.data.map_api.MapAPI) → List[l5kit.visualization.visualizer.common.FrameVisualization]

Convert a simulation output into a scene we can visualize. The scene will include replayed and simulated trajectories for ego and agents when these are simulated.

Parameters

• sim_out – the simulation output

• mapAPI – a MapAPI object

Returns

a list of FrameVisualization for the scene

l5kit.visualization.visualizer.zarr_utils.zarr_to_visualizer_scene(scene_dataset: l5kit.data.zarr_dataset.ChunkedDataset, mapAPI: l5kit.data.map_api.MapAPI, with_trajectories: bool = True) → List[l5kit.visualization.visualizer.common.FrameVisualization]

Convert a zarr scene into a list of FrameVisualization which can be used by the visualiser

Parameters

• scene_dataset – a scene dataset. This must contain a single scene

• mapAPI – mapAPI object

• with_trajectories – if to enable trajectories or not

Returns

a list of FrameVisualization objects