(
self,
polygon_channel=6,
dim=128,
use_lane_boundary=False,
)
| 7 | |
| 8 | class MapEncoder(nn.Module): |
| 9 | def __init__( |
| 10 | self, |
| 11 | polygon_channel=6, |
| 12 | dim=128, |
| 13 | use_lane_boundary=False, |
| 14 | ) -> None: |
| 15 | super().__init__() |
| 16 | |
| 17 | self.dim = dim |
| 18 | self.use_lane_boundary = use_lane_boundary |
| 19 | self.polygon_channel = ( |
| 20 | polygon_channel + 4 if use_lane_boundary else polygon_channel |
| 21 | ) |
| 22 | |
| 23 | self.polygon_encoder = PointsEncoder(self.polygon_channel, dim) |
| 24 | self.speed_limit_emb = FourierEmbedding(1, dim, 64) |
| 25 | |
| 26 | self.type_emb = nn.Embedding(3, dim) |
| 27 | self.on_route_emb = nn.Embedding(2, dim) |
| 28 | self.traffic_light_emb = nn.Embedding(4, dim) |
| 29 | self.unknown_speed_emb = nn.Embedding(1, dim) |
| 30 | |
| 31 | def forward(self, data) -> torch.Tensor: |
| 32 | polygon_center = data["map"]["polygon_center"] |
nothing calls this directly
no test coverage detected