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firestar5683
47 lines
2.3 KiB
Python
47 lines
2.3 KiB
Python
import unittest
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from types import SimpleNamespace
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import numpy as np
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from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
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class TestCompactProjectionBatch(unittest.TestCase):
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def test_combined_projection_matches_independent_strips_and_path(self):
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rng = np.random.default_rng(20261111)
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renderer = object.__new__(ModelRenderer)
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renderer._clip_region = SimpleNamespace(x=-500, y=-500, width=1536, height=1240)
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for case in range(80):
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with self.subTest(case=case):
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renderer._car_space_transform = np.array([[268, 500, 0], [240, 0, -500], [1, 0, 0]], dtype=np.float32)
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if case % 13 == 0:
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renderer._car_space_transform[2] = 0
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x = np.linspace(-3, 120, 33, dtype=np.float32)
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lines = [np.column_stack((x, rng.normal(0, .7, 33).cumsum(), rng.normal(0, .03, 33).cumsum())).astype(np.float32)
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for _ in range(7)]
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if case % 5 == 0:
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lines[case % 7] = lines[case % 7][:0]
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widths = [float(x) for x in rng.uniform(0, .9, 7)]
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heights = (0., 0., 0., 0., 0., 0., float(rng.uniform(.4, 2.)))
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max_idx = case % 33
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actual = renderer._map_lines_to_polygons(lines, widths, max_idx, z_offsets=heights, invert_last=True)
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expected = [renderer._map_line_to_polygon(line, width, height, max_idx, allow_invert=index != 6)
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for index, (line, width, height) in enumerate(zip(lines, widths, heights, strict=True))]
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for new, old in zip(actual, expected, strict=True):
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self.assertEqual(new.dtype, np.float32)
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np.testing.assert_allclose(new, old, rtol=1e-6, atol=.002)
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def test_default_lane_batch_retains_independent_clip_and_order(self):
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renderer = object.__new__(ModelRenderer)
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renderer._car_space_transform = np.eye(3, dtype=np.float32)
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renderer._clip_region = SimpleNamespace(x=-2, y=-2, width=4, height=4)
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lines = [np.array([[0, 1, 1], [1, 2, 1], [-1, 1, 1], [2, -2, 1]], dtype=np.float32),
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np.empty((0, 3), dtype=np.float32)]
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actual = renderer._map_lines_to_polygons(lines, [.2, .3], 3)
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for line, width, result in zip(lines, [.2, .3], actual, strict=True):
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np.testing.assert_array_equal(result, renderer._map_line_to_polygon(line, width, 0., 3))
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if __name__ == '__main__':
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unittest.main()
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