Added comments and Fix Test path

Author: sventarika

omega_prime/locator.py

@@ -350,7 +350,7 @@ def _xys2sts(self, xys, polys=None):
                     intersection_lane_ids = np.append(intersection_lane_ids, nearby_idx)
 
 
-                    
+        # Need a convertion from float values to int values. This is because the shapely STRtree query_nearest returns float values
         no_asscociation_idxs = no_asscociation_idxs.astype(int)
         intersection_lane_ids = intersection_lane_ids.astype(int)
         for l_id in set(intersection_lane_ids):
@@ -386,6 +386,7 @@ def query_centerlines(self, point, range_percentage=0.1):
         # Query all centerlines within the buffer
         nearby_idxs = self.str_tree.query(buffer, predicate="intersects")
 
+        # If there was no intersection, return the nearest centerline
         if nearby_idxs.size == 0:
             return nearest_idx
 

tests/test_esmini_examples.py

@@ -71,8 +71,8 @@ def test_centerline():
 def test_locator():
     with cProfile.Profile() as pr:
         # Load the recording
-        # rec = omega_prime.Recording.from_file(p / mapping[3][0], p / mapping[3][1], validate=False)
-        rec = omega_prime.Recording.from_file("example_files/01_tracks.mcap")
+        rec = omega_prime.Recording.from_file(p / mapping[3][0], p / mapping[3][1], validate=False)
+
         # Create a locator and remove all polygons from the lanes
         locator = omega_prime.Locator.from_mapodr(rec.map)