def find_local_lane_polygons(self, query_bbox: Tuple[float, float, float,
float],
city_name: str) -> np.ndarray:
"""
Find land polygons within specified area
Args:
query_bbox: An array of shape (4,) representing a 2d axis-aligned bounding box, with order
[xmin,xmax,ymin,ymax]
city_name: either 'MIA' for Miami or 'PIT' for Pittsburgh
Returns
local_lane_polygons: Array of arrays, representing local hallucinated lane polygons
"""
lane_polygons = self.city_to_lane_polygons_dict[city_name]
lane_bboxes = self.city_to_lane_bboxes_dict[city_name]
xmin, xmax, ymin, ymax = query_bbox
local_lane_polygons, _ = find_local_polygons(
copy.deepcopy(lane_polygons),
copy.deepcopy(lane_bboxes),
xmin,
xmax,
ymin,
ymax,
)
return local_lane_polygons
def find_local_driveable_areas(self, query_bbox: Tuple[float, float, float,
float],
city_name: str) -> np.ndarray:
"""
Find local driveable areas within specified area
Args:
query_bbox: An array of shape (4,) representing a 2d axis-aligned bounding box, with order
[xmin,xmax,ymin,ymax]
city_name: either 'MIA' for Miami or 'PIT' for Pittsburgh
Returns
local_das: Array of arrays, representing local driveable area polygons
"""
driveable_areas = self.city_to_driveable_areas_dict[city_name]
da_bboxes = self.city_to_da_bboxes_dict[city_name]
xmin, xmax, ymin, ymax = query_bbox
local_das, _ = find_local_polygons(
copy.deepcopy(driveable_areas),
copy.deepcopy(da_bboxes),
xmin,
xmax,
ymin,
ymax,
)
return local_das
def test_find_local_polygons(polygons_and_gt_bboxes):
"""Test for correctness of find_local_polygons."""
polygons = np.array(polygons_and_gt_bboxes[0])
poly_bboxes = np.array(polygons_and_gt_bboxes[1])
query_bbox = np.array([-1.5, 0.5, 1.5, 1.5])
query_min_x, query_min_y, query_max_x, query_max_y = query_bbox
local_polygons, overlap_indxs = find_local_polygons(
polygons.copy(), poly_bboxes, query_min_x, query_max_x, query_min_y,
query_max_y)
gt_overlap_bool = np.array([True, True, False, True, True])
gt_overlap_indxs = np.where(gt_overlap_bool)[0]
assert np.allclose(overlap_indxs, gt_overlap_indxs)
assert_np_obj_arrs_eq(polygons[gt_overlap_bool], local_polygons)
