Handle errors caused by small geometries + update to pyxodr-omega-prime package (#5)

* changed to pyxodr-omega-prime + step_size argument for .parquet files + ignored_lane_types + handle boundaries with only 1 point + polygon plotting

* updated requirements.txt and uv.lock

* Apply Ruff formatting

* changed plotting function

* updated requirements.txt

* updated uv.lock

---------

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>

Author: stamchry

.gitignore

@@ -6,4 +6,7 @@ __pycache__/
 .pytest_cache/
 .idea/
 omegadoc
-*.html
+*.html
+*.parquet
+*.xodr
+*.png

omega_prime/map_odr.py

@@ -1,14 +1,14 @@
 import logging
 from dataclasses import dataclass
 from omega_prime.map import Map, Lane, LaneBoundary
-from shapely import LineString, Polygon, simplify
-import numpy as np
+from shapely import LineString, Polygon, simplify, MultiPolygon
 from matplotlib.patches import Polygon as PltPolygon
+import numpy as np
 import matplotlib.pyplot as plt
 from betterosi import LaneClassificationType, LaneClassificationSubtype, LaneBoundaryClassificationType
-from pyxodr.road_objects.network import RoadNetwork as PyxodrRoadNetwork
-from pyxodr.road_objects.road import Road as PyxodrRoad
-from pyxodr.road_objects.lane import Lane as PyxodrLane
+from pyxodr_omega_prime.road_objects.network import RoadNetwork as PyxodrRoadNetwork
+from pyxodr_omega_prime.road_objects.road import Road as PyxodrRoad
+from pyxodr_omega_prime.road_objects.lane import Lane as PyxodrLane
 from pathlib import Path
 from lxml import etree
 import pyproj
@@ -28,11 +28,12 @@ def __init__(
         self,
         xml_string: str,
         resolution: float = 0.1,
+        ignored_lane_types: set[str] = set([]),
     ):
         self.root = etree.fromstring(xml_string.encode("utf-8"))
         self.tree = etree.ElementTree(self.root)
         self.resolution = resolution
-        self.ignored_lane_types = set([])
+        self.ignored_lane_types = ignored_lane_types
         self.road_ids_to_object = {}
 
 
@@ -159,11 +160,18 @@ def from_file(
         is_odr_xml: bool = False,
         is_mcap: bool = False,
         step_size=0.01,
+        ignored_lane_types: set[str] = set([]),
     ):
         if Path(filename).suffix in [".xodr", ".odr"] or is_odr_xml:
             with open(filename) as f:
                 odr_xml = f.read()
-            return cls.create(odr_xml=odr_xml, name=Path(filename).stem, step_size=step_size, parse=parse)
+            return cls.create(
+                odr_xml=odr_xml,
+                name=Path(filename).stem,
+                step_size=step_size,
+                parse=parse,
+                ignored_lane_types=ignored_lane_types,
+            )
         if Path(filename).suffix in [".mcap"] or is_mcap:
             map = next(iter(betterosi.read(filename, mcap_topics=topics, mcap_return_betterosi=False)))
             return cls.create(
@@ -191,16 +199,17 @@ def lane_boundaries(self, val):
         self._lane_boundaries = val
 
     @classmethod
-    def create(cls, odr_xml, name, step_size=0.01, parse: bool = False):
+    def create(cls, odr_xml, name, step_size=0.01, parse: bool = False, ignored_lane_types: set[str] = set([])):
         self = cls(odr_xml=odr_xml, name=name, step_size=step_size, lanes={}, lane_boundaries={})
         self._lane_boundaries = None
         self._lanes = None
+        self.ignored_lane_types = ignored_lane_types
         if parse:
             self.parse()
         return self
 
     def parse(self):
-        rn = RoadNetwork(self.odr_xml, resolution=self.step_size)
+        rn = RoadNetwork(self.odr_xml, resolution=self.step_size, ignored_lane_types=self.ignored_lane_types)
 
         lane_boundaries = {}
         lanes = {}
@@ -345,9 +354,16 @@ def create(
         lane_idx: int = None,
     ):
         if side == "left":
-            polyline = LineString(boundary.boundary_line)
+            if len(boundary.boundary_line) == 1:
+                polyline = LineString([boundary.boundary_line[0]] * 2)
+            else:
+                polyline = LineString(boundary.boundary_line)
         elif side == "right":
-            polyline = LineString(boundary.lane_reference_line)
+            if len(boundary.lane_reference_line) == 1:
+                polyline = LineString([boundary.lane_reference_line[0]] * 2)
+            else:
+                polyline = LineString(boundary.lane_reference_line)
+
         else:
             raise ValueError(f"Invalid side '{side}'. Expected 'left' or 'right'.")
 
@@ -462,12 +478,19 @@ def set_polygon(self):
                     raise ValueError(f"Could not compute valid polygon for Lane {self.xodr_idx}")
                 else:
                     warnings.warn(f"Needed to simplify and buffer polygon for Lane {self.xodr_idx}.")
+                    pass
             else:
                 warnings.warn(f"Needed to simplify polygon for Lane {self.xodr_idx}.")
+                pass
         self.polygon = polygon
         return self
 
     def plot(self, ax: plt.Axes):
         c = "green" if self.type != LaneClassificationType.TYPE_INTERSECTION else "black"
         ax.plot(*np.asarray(self.centerline).T, color=c, alpha=0.5)
-        ax.add_patch(PltPolygon(self.polygon.exterior.coords, fc="blue", alpha=0.2, ec="black"))
+        if isinstance(self.polygon, MultiPolygon):
+            ps = self.polygon.geoms
+        else:
+            ps = [self.polygon]
+        for p in ps:
+            ax.add_patch(PltPolygon(p.exterior.coords, fc="blue", alpha=0.2, ec="black"))

omega_prime/recording.py

@@ -435,9 +435,12 @@ def from_file(
         validate: bool = False,
         parse_map: bool = False,
         compute_polygons: bool = False,
+        step_size: float = 0.01,
     ):
         if Path(filepath).suffix == ".parquet":
-            return cls.from_parquet(filepath, parse_map=parse_map, validate=validate, compute_polygons=compute_polygons)
+            return cls.from_parquet(
+                filepath, parse_map=parse_map, validate=validate, compute_polygons=compute_polygons, step_size=step_size
+            )
 
         gts = betterosi.read(filepath, return_ground_truth=True, mcap_return_betterosi=False)
         gts, tmp_gts = itertools.tee(gts, 2)
@@ -552,14 +555,15 @@ def plot_mv_frame(self, ax: plt.Axes, frame: int):
             ax.add_patch(PltPolygon(p.exterior.coords, fc="red"))
 
     @classmethod
-    def from_parquet(cls, filename, parse_map: bool = False, **kwargs):
+    def from_parquet(cls, filename, parse_map: bool = False, step_size: float = 0.01, **kwargs):
         t = pq.read_table(filename)
         df = pl.DataFrame(t)
         if t.schema.metadata is not None and b"xodr" in t.schema.metadata:
             m = MapOdr.create(
                 odr_xml=t.schema.metadata[b"xodr"].decode(),
                 name=t.schema.metadata[b"xodr_name"].decode(),
                 parse=parse_map,
+                step_size=step_size,
             )
         else:
             m = None

pyproject.toml

@@ -41,7 +41,7 @@ dependencies = [
     'pyproj',
     'betterosi>=0.3.4',
     'lxd-io>=0.4.6',
-    'pyxodr',
+    'pyxodr-omega-prime',
     'joblib',
     'tqdm_joblib'
 ]

requirements.txt

@@ -1,5 +1,5 @@
 # This file was autogenerated by uv via the following command:
-#    uv pip compile .\pyproject.toml
+#    uv pip compile ./pyproject.toml
 altair==5.5.0
     # via omega-prime (./pyproject.toml)
 annotated-types==0.7.0
@@ -20,18 +20,13 @@ certifi==2025.4.26
     #   pyproj
 click==8.1.8
     # via typer
-colorama==0.4.6
-    # via
-    #   click
-    #   loguru
-    #   tqdm
 contourpy==1.3.2
     # via matplotlib
 cycler==0.12.1
     # via matplotlib
-fonttools==4.57.0
+fonttools==4.58.0
     # via matplotlib
-grpclib==0.4.7
+grpclib==0.4.8
     # via betterproto2
 h2==4.2.0
     # via grpclib
@@ -41,7 +36,7 @@ hyperframe==6.1.0
     # via h2
 jinja2==3.1.6
     # via altair
-joblib==1.4.2
+joblib==1.5.0
     # via omega-prime (./pyproject.toml)
 jsonschema==4.23.0
     # via altair
@@ -56,19 +51,19 @@ lxd-io==0.4.6
 lxml==5.4.0
     # via
     #   omega-prime (./pyproject.toml)
-    #   pyxodr
+    #   pyxodr-omega-prime
 lz4==4.4.4
     # via mcap
 markdown-it-py==3.0.0
     # via rich
 markupsafe==3.0.2
     # via jinja2
-matplotlib==3.10.1
+matplotlib==3.10.3
     # via
     #   omega-prime (./pyproject.toml)
     #   betterosi
     #   lxd-io
-    #   pyxodr
+    #   pyxodr-omega-prime
 mcap==1.2.2
     # via
     #   betterosi
@@ -81,21 +76,20 @@ multidict==6.4.3
     # via grpclib
 mypy-extensions==1.1.0
     # via typing-inspect
-narwhals==1.37.0
+narwhals==1.40.0
     # via altair
 networkx==3.4.2
     # via omega-prime (./pyproject.toml)
-numpy==2.2.5
+numpy==2.2.6
     # via
     #   omega-prime (./pyproject.toml)
     #   betterosi
     #   contourpy
     #   lxd-io
     #   matplotlib
     #   pandas
-    #   pandera
     #   pyogrio
-    #   pyxodr
+    #   pyxodr-omega-prime
     #   scipy
     #   shapely
     #   xarray
@@ -109,35 +103,34 @@ packaging==25.0
 pandas==2.2.3
     # via
     #   omega-prime (./pyproject.toml)
-    #   pandera
     #   xarray
-pandera==0.23.1
+pandera==0.24.0
     # via omega-prime (./pyproject.toml)
 pillow==11.2.1
     # via matplotlib
-polars==1.28.1
+polars==1.29.0
     # via
     #   omega-prime (./pyproject.toml)
     #   lxd-io
     #   pandera
     #   polars-st
-polars-st==0.1.0a28
+polars-st==0.1.0a29
     # via omega-prime (./pyproject.toml)
-protobuf==6.30.2
+protobuf==6.31.0
     # via
     #   betterosi
     #   mcap-protobuf-support
 pyarrow==20.0.0
     # via
     #   pandas
     #   polars-st
-pydantic==2.11.3
+pydantic==2.11.4
     # via pandera
-pydantic-core==2.33.1
+pydantic-core==2.33.2
     # via pydantic
 pygments==2.19.1
     # via rich
-pyogrio==0.10.0
+pyogrio==0.11.0
     # via polars-st
 pyparsing==3.2.3
     # via matplotlib
@@ -150,28 +143,28 @@ python-dateutil==2.9.0.post0
     #   pandas
 pytz==2025.2
     # via pandas
-pyxodr==0.1.3
+pyxodr-omega-prime==0.1.5
     # via omega-prime (./pyproject.toml)
 referencing==0.36.2
     # via
     #   jsonschema
     #   jsonschema-specifications
 rich==14.0.0
     # via
-    #   pyxodr
+    #   pyxodr-omega-prime
     #   typer
-rpds-py==0.24.0
+rpds-py==0.25.0
     # via
     #   jsonschema
     #   referencing
-scipy==1.15.2
+scipy==1.15.3
     # via
     #   omega-prime (./pyproject.toml)
-    #   pyxodr
-shapely==2.1.0
+    #   pyxodr-omega-prime
+shapely==2.1.1
     # via
     #   omega-prime (./pyproject.toml)
-    #   pyxodr
+    #   pyxodr-omega-prime
 shellingham==1.5.4
     # via typer
 six==1.17.0
@@ -186,14 +179,15 @@ tqdm-joblib==0.0.4
     # via omega-prime (./pyproject.toml)
 typeguard==4.4.2
     # via pandera
-typer==0.15.3
+typer==0.15.4
     # via
     #   omega-prime (./pyproject.toml)
     #   betterosi
 typing-extensions==4.13.2
     # via
     #   altair
     #   betterproto2
+    #   pandera
     #   pydantic
     #   pydantic-core
     #   referencing
@@ -207,9 +201,7 @@ typing-inspection==0.4.0
     # via pydantic
 tzdata==2025.2
     # via pandas
-win32-setctime==1.2.0
-    # via loguru
-xarray==2025.3.1
+xarray==2025.4.0
     # via omega-prime (./pyproject.toml)
 zstandard==0.23.0
     # via mcap