def test_dilation(self):
map_mask = MapMask(self.fixture, resolution=0.1)
# This is where we put the foreground in the fixture, so this should be true by design.
self.assertTrue(map_mask.is_on_mask(2, 2))
# Go 1 meter to the right. Obviously not on the mask.
self.assertFalse(map_mask.is_on_mask(2, 3))
# But if we dilate by 1 meters, we are on the dilated mask.
self.assertTrue(map_mask.is_on_mask(2, 3, dilation=1)) # x direction
self.assertTrue(map_mask.is_on_mask(3, 2, dilation=1)) # y direction
self.assertTrue(
map_mask.is_on_mask(2 + np.sqrt(1 / 2),
2 + np.sqrt(1 / 2),
dilation=1)) # diagonal
# If we dilate by 0.9 meter, it is not enough.
self.assertFalse(map_mask.is_on_mask(2, 3, dilation=0.9))
def test_native_resolution(self):
# Load mask and assert that the
map_mask = MapMask(self.fixture, resolution=0.1)
# This is where we put the foreground in the fixture, so this should be true by design.
self.assertTrue(map_mask.is_on_mask(2, 2))
# Each pixel is 10 x 10 cm, so if we step less than 5 cm in either direction we are still on foreground.
# Note that we add / subtract a "small number" to break numerical ambiguities along the edges.
self.assertTrue(map_mask.is_on_mask(2 + self.half_lt, 2))
self.assertTrue(map_mask.is_on_mask(2 - self.half_lt, 2))
self.assertTrue(map_mask.is_on_mask(2, 2 + self.half_lt))
self.assertTrue(map_mask.is_on_mask(2, 2 - self.half_lt))
# But if we step outside this range, we should get false
self.assertFalse(map_mask.is_on_mask(2 + self.half_gt, 2))
self.assertFalse(map_mask.is_on_mask(2 + self.half_gt, 2))
self.assertFalse(map_mask.is_on_mask(2, 2 + self.half_gt))
self.assertFalse(map_mask.is_on_mask(2, 2 + self.half_gt))