Dev v0.0.8 ruff

.github/workflows/pre-commit.yaml

@@ -3,7 +3,7 @@ name: pre-commit
 on:
   pull_request:
   push:
-    branches: [main]
+    branches: [dev_v0.0.8]
 
 jobs:
   pre-commit:

.github/workflows/pytest.yaml

@@ -0,0 +1,26 @@
+name: pytest
+
+on:
+  push:
+    branches: [dev_v0.0.8]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.9", "3.10", "3.11", "3.12", "3.13"]
+
+    steps:
+      - uses: actions/checkout@v2
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          pip install uv
+          uv pip install --system -e ".[dev]"
+      - name: Test with pytest
+        run: |
+          pytest

.gitignore

@@ -30,3 +30,7 @@ docs/_build/
 docs/build/
 _build/
 .doctrees/
+
+
+# ruff
+.ruff_cache/*

.pre-commit-config.yaml

@@ -18,31 +18,14 @@ repos:
         exclude: /README\.rst$|\.pot?$|\.ipynb$
         args: ['--no-sort-keys', "--autofix"]
 
--   repo: https://github.com/pycqa/isort
-    rev: 6.0.1
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.6.2
     hooks:
-      - id: isort
-        name: isort (python)
-        args: ["--profile", "black", "--filter-files", '--line-length', '120']
+      - id: ruff
+        args: [--fix]
+        exclude: __init__.py$
+      - id: ruff-format
         exclude: __init__.py$
--   repo: https://github.com/ambv/black
-    rev: 25.1.0
-    hooks:
-    - id: black
-      language_version: python3.12
-      args: ['--line-length=120']
-      files: "\\.py$"
--   repo: https://github.com/myint/autoflake
-    rev: v2.3.1
-    hooks:
-    - id: autoflake
-      args: ['--in-place', '--remove-all-unused-imports', '--remove-unused-variable']
-      exclude: __init__.py$
-      language_version: python3.12
--   repo: https://github.com/pycqa/flake8
-    rev: 7.3.0
-    hooks:
-    - id: flake8
 -   repo: https://github.com/kynan/nbstripout
     rev: 0.8.1
     hooks:

docs/conf.py

@@ -10,7 +10,7 @@
 project = "py123d"
 copyright = "2025, 123D Contributors"
 author = "123D Contributors"
-release = "v0.0.7"
+release = "v0.0.8"
 
 # -- General configuration ---------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
@@ -23,7 +23,6 @@
     "sphinx.ext.intersphinx",
     "sphinx.ext.napoleon",
     "sphinx_copybutton",
-    "sphinx_inline_tabs",
     "sphinx_autodoc_typehints",
     "myst_parser",
 ]

notebooks/01_scene_tutorial.ipynb

@@ -49,11 +49,11 @@
     "from py123d.api.scene.arrow.arrow_scene_builder import ArrowSceneBuilder\n",
     "from py123d.api.scene.scene_filter import SceneFilter\n",
     "\n",
-    "\n",
     "# from py123d.common.multithreading.worker_ray import RayDistributed\n",
     "# from py123d.common.multithreading.worker_ray import RayDistributed\n",
     "from py123d.common.multithreading.worker_sequential import Sequential\n",
     "from py123d.datatypes.sensors.pinhole_camera import PinholeCameraType\n",
+    "\n",
     "# from py123d.datatypes.sensors.pinhole_camera_type import PinholeCameraType\n",
     "\n",
     "# splits = [\"kitti360_train\"]\n",
@@ -83,7 +83,7 @@
     "\n",
     "# worker = RayDistributed()\n",
     "scenes = scene_builder.get_scenes(scene_filter, worker)\n",
-    "print(f\"Found {len(scenes)} scenes\")\n"
+    "print(f\"Found {len(scenes)} scenes\")"
    ]
   },
   {
@@ -101,7 +101,6 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "\n",
     "scene = scenes[0]\n",
     "\n",
     "log_metadata = scene.get_log_metadata()\n",
@@ -128,7 +127,6 @@
    "source": [
     "from py123d.visualization.viser.viser_viewer import ViserViewer\n",
     "\n",
-    "\n",
     "visualization_server = ViserViewer(scenes, scene_index=0)"
    ]
   },
@@ -139,8 +137,10 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "from py123d.geometry import EulerAngles\n",
     "import numpy as np\n",
+    "\n",
+    "from py123d.geometry import EulerAngles\n",
+    "\n",
     "euler_angles = EulerAngles(roll=0.0, pitch=0.0, yaw=np.pi)\n",
     "euler_angles.roll\n",
     "# 0.0\n",

notebooks/bev_matplotlib.ipynb

@@ -9,8 +9,6 @@
    "source": [
     "from py123d.api.scene.arrow.arrow_scene_builder import ArrowSceneBuilder\n",
     "from py123d.api.scene.scene_filter import SceneFilter\n",
-    "\n",
-    "\n",
     "from py123d.common.multithreading.worker_sequential import Sequential\n",
     "# from py123d.datatypes.sensors.pinhole_camera_type import PinholeCameraType"
    ]
@@ -24,11 +22,12 @@
    "source": [
     "# splits = [\"kitti360_train\"]\n",
     "# splits = [\"nuscenes-mini_val\", \"nuscenes-mini_train\"]\n",
-    "splits = [\"nuplan-mini_test\", \"nuplan-mini_train\", \"nuplan-mini_val\"]\n",
+    "# splits = [\"nuplan-mini_test\", \"nuplan-mini_train\", \"nuplan-mini_val\"]\n",
     "# splits = [\"carla_test\"]\n",
     "# splits = [\"wopd_val\"]\n",
     "# splits = [\"av2-sensor_train\"]\n",
     "# splits = [\"pandaset_test\", \"pandaset_val\", \"pandaset_train\"]\n",
+    "splits = None\n",
     "log_names = None\n",
     "scene_uuids = None\n",
     "\n",
@@ -45,7 +44,7 @@
     "scene_builder = ArrowSceneBuilder()\n",
     "worker = Sequential()\n",
     "scenes = scene_builder.get_scenes(scene_filter, worker)\n",
-    "print(f\"Found {len(scenes)} scenes\")\n"
+    "print(f\"Found {len(scenes)} scenes\")"
    ]
   },
   {
@@ -59,25 +58,22 @@
     "\n",
     "import matplotlib.pyplot as plt\n",
     "import numpy as np\n",
+    "import shapely.geometry as geom\n",
     "\n",
     "from py123d.api.map.map_api import MapAPI\n",
+    "from py123d.api.scene.scene_api import SceneAPI\n",
     "from py123d.datatypes.map_objects.map_layer_types import MapLayer\n",
-    "from py123d.datatypes.map_objects.map_objects import Lane, LaneGroup\n",
+    "from py123d.datatypes.map_objects.map_objects import LaneGroup\n",
     "from py123d.geometry import Point2D\n",
-    "from py123d.visualization.color.color import BLACK, DARK_GREY, DARKER_GREY, LIGHT_GREY, NEW_TAB_10, TAB_10\n",
+    "from py123d.visualization.color.color import BLACK, DARKER_GREY, NEW_TAB_10, TAB_10\n",
     "from py123d.visualization.color.config import PlotConfig\n",
     "from py123d.visualization.color.default import CENTERLINE_CONFIG, MAP_SURFACE_CONFIG, ROUTE_CONFIG\n",
     "from py123d.visualization.matplotlib.observation import (\n",
     "    add_box_detections_to_ax,\n",
     "    add_default_map_on_ax,\n",
     "    add_ego_vehicle_to_ax,\n",
-    "    add_traffic_lights_to_ax,\n",
     ")\n",
     "from py123d.visualization.matplotlib.utils import add_shapely_linestring_to_ax, add_shapely_polygon_to_ax\n",
-    "from py123d.api.scene.scene_api import SceneAPI\n",
-    "\n",
-    "\n",
-    "import shapely.geometry as geom\n",
     "\n",
     "LEFT_CONFIG: PlotConfig = PlotConfig(\n",
     "    fill_color=TAB_10[2],\n",
@@ -154,7 +150,6 @@
     "    patch = geom.box(x_min, y_min, x_max, y_max)\n",
     "    map_objects_dict = map_api.query(geometry=patch, layers=layers, predicate=\"intersects\")\n",
     "\n",
-    "\n",
     "    for layer, map_objects in map_objects_dict.items():\n",
     "        for map_object in map_objects:\n",
     "            try:\n",
@@ -192,7 +187,6 @@
     "                    #     line_color=NEW_TAB_10[line_type % (len(NEW_TAB_10) - 1)],\n",
     "                    #     line_color_alpha=1.0,\n",
     "                    #     line_width=1.5,\n",
-    "                    #     line_style=\"-\",\n",
     "                    #     zorder=10,\n",
     "                    # )\n",
     "                    add_shapely_linestring_to_ax(ax, map_object.polyline_3d.linestring, ROAD_LINE_CONFIG)\n",
@@ -207,12 +201,11 @@
     "\n",
     "\n",
     "def _plot_scene_on_ax(ax: plt.Axes, scene: SceneAPI, iteration: int = 0, radius: float = 80) -> plt.Axes:\n",
-    "\n",
     "    ego_vehicle_state = scene.get_ego_state_at_iteration(iteration)\n",
     "    box_detections = scene.get_box_detections_at_iteration(iteration)\n",
     "    map_api = scene.get_map_api()\n",
     "\n",
-    "    point_2d = ego_vehicle_state.bounding_box.center.point_2d\n",
+    "    point_2d = ego_vehicle_state.bounding_box.center_se2.point_2d\n",
     "    if map_api is not None:\n",
     "        # add_debug_map_on_ax(ax, scene.get_map_api(), point_2d, radius=radius, route_lane_group_ids=None)\n",
     "\n",
@@ -230,10 +223,7 @@
     "    return ax\n",
     "\n",
     "\n",
-    "def plot_scene_at_iteration(\n",
-    "    scene: SceneAPI, iteration: int = 0, radius: float = 80\n",
-    ") -> Tuple[plt.Figure, plt.Axes]:\n",
-    "\n",
+    "def plot_scene_at_iteration(scene: SceneAPI, iteration: int = 0, radius: float = 80) -> Tuple[plt.Figure, plt.Axes]:\n",
     "    size = 10\n",
     "\n",
     "    fig, ax = plt.subplots(figsize=(size, size))\n",
@@ -277,7 +267,7 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "py123d",
+   "display_name": "py123d_dev",
    "language": "python",
    "name": "python3"
   },

notebooks/bev_render.ipynb

@@ -9,9 +9,8 @@
    "source": [
     "from py123d.api.scene.arrow.arrow_scene_builder import ArrowSceneBuilder\n",
     "from py123d.api.scene.scene_filter import SceneFilter\n",
-    "\n",
     "from py123d.common.multithreading.worker_sequential import Sequential\n",
-    "# from py123d.datatypes.sensors.pinhole_camera import PinholeCameraType "
+    "# from py123d.datatypes.sensors.pinhole_camera import PinholeCameraType"
    ]
   },
   {
@@ -49,8 +48,8 @@
     "worker = Sequential()\n",
     "scenes = scene_builder.get_scenes(scene_filter, worker)\n",
     "\n",
-    "scenes  = [scene for scene in scenes if scene.uuid in scene_uuids]\n",
-    "print(f\"Found {len(scenes)} scenes\")\n"
+    "scenes = [scene for scene in scenes if scene.uuid in scene_uuids]\n",
+    "print(f\"Found {len(scenes)} scenes\")"
    ]
   },
   {

notebooks/camera_matplotlib.ipynb

@@ -9,7 +9,6 @@
    "source": [
     "from py123d.api.scene.arrow.arrow_scene_builder import ArrowSceneBuilder\n",
     "from py123d.api.scene.scene_filter import SceneFilter\n",
-    "\n",
     "from py123d.common.multithreading.worker_sequential import Sequential\n",
     "from py123d.datatypes.sensors.pinhole_camera import PinholeCameraType"
    ]
@@ -60,8 +59,9 @@
    "outputs": [],
    "source": [
     "from matplotlib import pyplot as plt\n",
+    "\n",
     "from py123d.api.scene.abstract_scene import AbstractScene\n",
-    "from py123d.visualization.matplotlib.camera import add_box_detections_to_camera_ax, add_camera_ax\n",
+    "from py123d.visualization.matplotlib.camera import add_box_detections_to_camera_ax\n",
     "\n",
     "iteration = 0\n",
     "scene = scenes[0]\n",

notebooks/camera_render.ipynb

@@ -9,7 +9,6 @@
    "source": [
     "from py123d.api.scene.arrow.arrow_scene_builder import ArrowSceneBuilder\n",
     "from py123d.api.scene.scene_filter import SceneFilter\n",
-    "\n",
     "from py123d.common.multithreading.worker_sequential import Sequential\n",
     "from py123d.datatypes.sensors.pinhole_camera import PinholeCameraType\n",
     "\n",
@@ -51,8 +50,8 @@
     "worker = Sequential()\n",
     "scenes = scene_builder.get_scenes(scene_filter, worker)\n",
     "\n",
-    "scenes  = [scene for scene in scenes if scene.uuid in scene_uuids]\n",
-    "print(f\"Found {len(scenes)} scenes\")\n"
+    "scenes = [scene for scene in scenes if scene.uuid in scene_uuids]\n",
+    "print(f\"Found {len(scenes)} scenes\")"
    ]
   },
   {
@@ -62,11 +61,11 @@
    "metadata": {},
    "outputs": [],
    "source": [
+    "import imageio\n",
     "from matplotlib import pyplot as plt\n",
+    "\n",
     "from py123d.api.scene.abstract_scene import AbstractScene\n",
-    "from py123d.visualization.matplotlib.camera import add_box_detections_to_camera_ax, add_camera_ax\n",
-    "import imageio\n",
-    "import numpy as np\n",
+    "from py123d.visualization.matplotlib.camera import add_box_detections_to_camera_ax\n",
     "\n",
     "iteration = 0\n",
     "scene = scenes[0]\n",