Fix pipeline issues

Author: ruoning-ng

.github/workflows/pipeline.yml

@@ -31,7 +31,11 @@ jobs:
           sudo apt update && sudo apt install -y --no-install-recommends \
             xvfb
           pip install -r setup/requirements_3_12_lock.txt
-      - name: Run tests
+      - name: Run Python unit tests
         run: |
           python -m unittest discover python-sdk
+      - name: Run Jupyter notebook tests
+        run: |
+          pip install jupyter
+          export PYTHONPATH="${PYTHONPATH}:$(pwd)/python-sdk"
           ./setup/test_tutorial.sh --ci

python-sdk/nuscenes/map_expansion/map_api.py

@@ -1820,8 +1820,8 @@ def mask_for_polygons(polygons: MultiPolygon, mask: np.ndarray) -> np.ndarray:
         def int_coords(x):
             # function to round and convert to int
             return np.array(x).round().astype(np.int32)
-        exteriors = [int_coords(poly.exterior.coords) for poly in polygons]
-        interiors = [int_coords(pi.coords) for poly in polygons for pi in poly.interiors]
+        exteriors = [int_coords(poly.exterior.coords) for poly in polygons.geoms]
+        interiors = [int_coords(pi.coords) for poly in polygons.geoms for pi in poly.interiors]
         cv2.fillPoly(mask, exteriors, 1)
         cv2.fillPoly(mask, interiors, 0)
         return mask
@@ -1885,7 +1885,7 @@ def _polygon_geom_to_mask(self,
                                                         [1.0, 0.0, 0.0, 1.0, trans_x, trans_y])
                 new_polygon = affinity.scale(new_polygon, xfact=scale_width, yfact=scale_height, origin=(0, 0))
 
-                if new_polygon.geom_type is 'Polygon':
+                if new_polygon.geom_type == 'Polygon':
                     new_polygon = MultiPolygon([new_polygon])
                 map_mask = self.mask_for_polygons(new_polygon, map_mask)
 
@@ -1922,7 +1922,7 @@ def _line_geom_to_mask(self,
 
         map_mask = np.zeros(canvas_size, np.uint8)
 
-        if layer_name is 'traffic_light':
+        if layer_name == 'traffic_light':
             return None
 
         for line in layer_geom:
@@ -1968,7 +1968,7 @@ def _get_layer_polygon(self,
                                                       origin=(patch_x, patch_y), use_radians=False)
                         new_polygon = affinity.affine_transform(new_polygon,
                                                                 [1.0, 0.0, 0.0, 1.0, -patch_x, -patch_y])
-                        if new_polygon.geom_type is 'Polygon':
+                        if new_polygon.geom_type == 'Polygon':
                             new_polygon = MultiPolygon([new_polygon])
                         polygon_list.append(new_polygon)
 
@@ -1983,7 +1983,7 @@ def _get_layer_polygon(self,
                                                       origin=(patch_x, patch_y), use_radians=False)
                         new_polygon = affinity.affine_transform(new_polygon,
                                                                 [1.0, 0.0, 0.0, 1.0, -patch_x, -patch_y])
-                        if new_polygon.geom_type is 'Polygon':
+                        if new_polygon.geom_type == 'Polygon':
                             new_polygon = MultiPolygon([new_polygon])
                         polygon_list.append(new_polygon)
 
@@ -2003,7 +2003,7 @@ def _get_layer_line(self,
         if layer_name not in self.map_api.non_geometric_line_layers:
             raise ValueError("{} is not a line layer".format(layer_name))
 
-        if layer_name is 'traffic_light':
+        if layer_name == 'traffic_light':
             return None
 
         patch_x = patch_box[0]

python-sdk/tutorials/map_expansion_tutorial.ipynb

@@ -197,7 +197,7 @@
    "source": [
     "# Init nuScenes. Requires the dataset to be stored on disk.\n",
     "from nuscenes.nuscenes import NuScenes\n",
-    "nusc = NuScenes(version='v1.0-mini', verbose=False)\n",
+    "nusc = NuScenes(version='v1.0-mini', dataroot='/data/sets/nuscenes', verbose=False)\n",
     "\n",
     "# Pick a sample and render the front camera image.\n",
     "sample_token = nusc.sample[9]['token']\n",
@@ -222,7 +222,7 @@
    "source": [
     "# Init NuScenes. Requires the dataset to be stored on disk.\n",
     "from nuscenes.nuscenes import NuScenes\n",
-    "nusc = NuScenes(version='v1.0-mini', verbose=False)\n",
+    "nusc = NuScenes(version='v1.0-mini', dataroot='/data/sets/nuscenes', verbose=False)\n",
     "\n",
     "# Render ego poses.\n",
     "nusc_map_bos = NuScenesMap(dataroot='/data/sets/nuscenes', map_name='boston-seaport')\n",

setup/test_tutorial.sh

@@ -33,6 +33,7 @@ sed -i.bak "/get_ipython.*/d; s/\(plt.imshow.*\)/#\1/"  python-sdk/tutorials/pre
 # Use "data/sets/nuscenes" instead of "/data/sets/nuscenes"
 # Use "data/sets/nuimages" instead of "/data/sets/nuimages"
 if [[ ${RUNNING_IN_CI} == "True" ]]; then
+    echo "Running in CI. Replacing path to dataroot as: data/sets/nuimages"
     sed -i 's/\/data\/sets\/nuscenes/data\/sets\/nuscenes/g' python-sdk/tutorials/nuscenes_tutorial.py
     sed -i 's/\/data\/sets\/nuscenes/data\/sets\/nuscenes/g' python-sdk/tutorials/nuimages_tutorial.py
     sed -i 's/\/data\/sets\/nuimages/data\/sets\/nuimages/g' python-sdk/tutorials/nuimages_tutorial.py
@@ -45,5 +46,5 @@ fi
 xvfb-run python python-sdk/tutorials/nuscenes_tutorial.py
 xvfb-run python python-sdk/tutorials/nuimages_tutorial.py
 xvfb-run python python-sdk/tutorials/can_bus_tutorial.py
-# xvfb-run python python-sdk/tutorials/map_expansion_tutorial.py  # Failing with MultiPolygon issue
-# xvfb-run python python-sdk/tutorials/prediction_tutorial.py  # Failing with MultiPolygon issue
+xvfb-run python python-sdk/tutorials/map_expansion_tutorial.py
+xvfb-run python python-sdk/tutorials/prediction_tutorial.py