def test_compute_lane_width_curved_width1():
"""
Compute the lane width of the following curved lane segment
Should have width 1 at each pair of boundary waypoints.
-------boundary
/ ----boundary
/ /
| |
| \\
\\ -----
\\-----
"""
left_even_pts = np.array([[0, 2], [-2, 2], [-3, 1], [-3, 0], [-2, -1],
[0, -1]])
right_even_pts = np.array([[0, 3], [-2, 3], [-4, 1], [-4, 0], [-2, -2],
[0, -2]])
lane_width = compute_lane_width(left_even_pts, right_even_pts)
gt_lane_width = 1.0
assert np.isclose(lane_width, gt_lane_width)
lane_width = compute_lane_width(right_even_pts, left_even_pts)
gt_lane_width = 1.0
assert np.isclose(lane_width, gt_lane_width)
def test_compute_lane_width_curved_not_width1():
"""
Compute the lane width of the following curved lane segment
-------
/ ----
/ /
| |
| \\
\\ -----
\\-----
We get waypoint distances of [1,1,1,1,0.707..., 1,1]
"""
left_even_pts = np.array([[0, 2], [-2, 2], [-3, 1], [-3, 0], [-2.5, -0.5],
[-2, -1], [0, -1]])
right_even_pts = np.array([[0, 3], [-2, 3], [-4, 1], [-4, 0], [-3, -1],
[-2, -2], [0, -2]])
lane_width = compute_lane_width(left_even_pts, right_even_pts)
gt_lane_width = 0.9581581115980783
assert np.isclose(lane_width, gt_lane_width)
lane_width = compute_lane_width(right_even_pts, left_even_pts)
gt_lane_width = 0.9581581115980783
assert np.isclose(lane_width, gt_lane_width)
def test_compute_lane_width_straight():
"""
Compute the lane width of the following straight lane segment
(waypoints indicated with "o" symbol):
o o
| |
o o
| |
o o
We can swap boundaries for this lane, and the width should be identical.
"""
left_even_pts = np.array([[1, 1], [1, 0], [1, -1]])
right_even_pts = np.array([[-1, 1], [-1, 0], [-1, -1]])
lane_width = compute_lane_width(left_even_pts, right_even_pts)
gt_lane_width = 2.0
assert np.isclose(lane_width, gt_lane_width)
lane_width = compute_lane_width(right_even_pts, left_even_pts)
gt_lane_width = 2.0
assert np.isclose(lane_width, gt_lane_width)
def test_compute_lane_width_telescoping():
"""
Compute the lane width of the following straight lane segment
(waypoints indicated with "o" symbol):
o o
\\ //
o o
\\ //
o o
\\ //
o
We can swap boundaries for this lane, and the width should be identical.
"""
left_even_pts = np.array([[3, 2], [2, 1], [1, 0], [0, -1]])
right_even_pts = np.array([[-3, 2], [-2, 1], [-1, 0], [0, -1]])
lane_width = compute_lane_width(left_even_pts, right_even_pts)
gt_lane_width = (6.0 + 4.0 + 2.0 + 0.0) / 4
assert np.isclose(lane_width, gt_lane_width)
lane_width = compute_lane_width(right_even_pts, left_even_pts)
gt_lane_width = (6.0 + 4.0 + 2.0 + 0.0) / 4
assert np.isclose(lane_width, gt_lane_width)
