l5kit.kinematic.perturbation module

class l5kit.kinematic.perturbation.Perturbation

Bases: abc.ABC

abstract perturb(history_frames: numpy.ndarray, future_frames: numpy.ndarray, **kwargs: dict) → Tuple[numpy.ndarray, numpy.ndarray]
Parameters
  • history_frames (np.ndarray) – array of past frames

  • future_frames (np.ndarray) – array of future frames

  • kwargs – optional extra arguments for the specific perturber

Returns

array of past frames with perturbation applied future_frames (np.ndarray): array of future frames with perturbation applied

Return type

history_frames (np.ndarray)