def test_exception(self):
with self.assertRaises(Exception):
build_convex_hull(((0, 0),))
with self.assertRaises(Exception):
build_convex_hull(((0, 0), (0, 0)))
with self.assertRaises(Exception):
build_convex_hull(((0, 0), (1, 1), (2, 2)))
import unittest
from offroad_routing.geometry.ch_localization import *
from offroad_routing.geometry.convex_hull import build_convex_hull
polygon1 = ((0, 0), (1, -1), (3, -1), (6, 1), (5, 3), (1, 3), (0, 0))
polygon1, _, angles1 = build_convex_hull(polygon1)
polygon2 = ((-1, -1), (6, -1), (6, 6), (-1, -1))
polygon2, _, angles2 = build_convex_hull(polygon2)
points_in = ((2, 1), (5, 1), (1, 0), (2, 0), (3, 0), (4, 0), (3, 1), (4, 1),
(3, 2), (4, 2), (5, 2))
points_out = ((-1, 2), (3, 4), (5, -5), (10, -1), (-5, -5))
points_on = ((2, -1), (3, 3))
class TestLocalizeConvexLinear(unittest.TestCase):
def test_polygon1(self):
for p in points_in:
self.assertTrue(localize_convex_linear(p, polygon1))
for p in points_out:
self.assertFalse(localize_convex_linear(p, polygon1))
for p in points_on:
self.assertFalse(localize_convex_linear(p, polygon1))
def test_polygon2(self):
for p in points_in:
self.assertTrue(localize_convex_linear(p, polygon2))
for p in points_out:
self.assertFalse(localize_convex_linear(p, polygon2))
for p in points_on:
self.assertFalse(localize_convex_linear(p, polygon2))
def prune_geometry(self,
epsilon_polygon=None,
epsilon_polyline=None,
bbox_comp=15,
remove_inner=False):
"""
Transform retrieved map data:
1. Transform geometry to tuple of points.
2. Run Ramer-Douglas-Peucker (RDP) to geometry.
3. Get rid of small objects with bbox_comp parameter.
4. Add data about convex hull for polygons.
Default RDP parameters will be computed for the given area to provide best performance.
:param Optional[float] epsilon_polygon: RDP parameter for polygons
:param Optional[float] epsilon_polyline: RDP parameter for polylines
:param Optional[int] bbox_comp: scale polygon comparison parameter (to size of map bbox)
:param bool remove_inner: remove inner polygons for other polygons
"""
for param in {epsilon_polygon, epsilon_polyline, bbox_comp}:
assert param is None or param >= 0
# auto-compute parameters
if epsilon_polygon is None:
epsilon_polygon = (self.bbox_size[0]**2 +
self.bbox_size[1]**2)**0.5 / bbox_comp / 5
if epsilon_polyline is None:
epsilon_polyline = (self.bbox_size[0]**2 +
self.bbox_size[1]**2)**0.5 / bbox_comp / 10
# compare to bounding box
self.polygons.geometry = \
self.polygons.geometry.apply(self.__compare_bbox, args=[bbox_comp, self.bbox_size])
self.polygons = DataFrame(
self.polygons[self.polygons['geometry'].notna()])
# shapely.geometry.Polygon to tuple of points
self.polygons.geometry = self.polygons.geometry.apply(
self.__polygon_coords, args=[epsilon_polygon])
self.polygons = self.polygons[self.polygons['geometry'].notna()]
# remove equal polygons
self.__remove_equal_polygons()
self.polygons = self.polygons.reset_index().drop(columns='index')
# remove polygons which are inner for other polygons
if remove_inner:
self.__remove_inner_polygons()
# add info about convex hull
if self.polygons.shape[0] > 0:
self.polygons = self.polygons.join(
DataFrame(self.polygons.geometry).apply(
lambda x: build_convex_hull(x[0][0]),
axis=1,
result_type='expand').rename(columns={
0: 'convex_hull',
1: 'convex_hull_points',
2: 'angles'
}))
# compare to bounding box
self.multilinestrings.geometry = \
self.multilinestrings.geometry.apply(self.__compare_bbox, args=[bbox_comp, self.bbox_size])
self.multilinestrings = DataFrame(self.multilinestrings[
self.multilinestrings['geometry'].notna()].reset_index().drop(
columns='index'))
# shapely.geometry.MultiLineString to tuple of points and simplify
self.multilinestrings.geometry = self.multilinestrings.geometry.apply(
self.__linestring_coords, args=[epsilon_polyline])
self.multilinestrings = self.multilinestrings.to_records(index=False)
self.polygons = self.polygons.to_records(index=False)
def test_non_convex(self):
self.assertNotEqual(set(build_convex_hull(polygon2)[0]), set(polygon2))
self.assertEqual(len(build_convex_hull(polygon2)[0]), len(polygon2) - 2)
self.assertEqual(set(build_convex_hull(polygon2)[1]), {0, 2, 3, 5})
self.assertEqual(len(build_convex_hull(polygon2)[2]), len(polygon2) - 2 - 2)
def test_convex(self):
self.assertEqual(set(build_convex_hull(polygon1)[0]), set(polygon1))
self.assertEqual(len(build_convex_hull(polygon1)[0]), len(polygon1))
self.assertEqual(set(build_convex_hull(polygon1)[1]), {0, 1, 2})
self.assertEqual(len(build_convex_hull(polygon1)[2]), len(polygon1) - 2)
def test_simple(self):
self.assertEqual(set(build_convex_hull(polygon0)[0]), set(polygon0))
self.assertEqual(len(build_convex_hull(polygon0)[0]), len(polygon0))
self.assertEqual(set(build_convex_hull(polygon0)[1]), {0, 1})
self.assertIs(build_convex_hull(polygon0)[2], None)
def test_incorrect(self):
with self.assertRaises(Exception):
build_convex_hull(polygon0[:-1])