Since we 1) fix Nuscenes wrong width/length, 2) disable vehicle type …

…randomization, the GT nuscene OBS should be updated to fix test

metadrive/manager/scenario_traffic_manager.py

@@ -229,7 +229,8 @@ def spawn_vehicle(self, v_id, track):
 
         # Add z to make it stick to the ground:
         assert len(position) == 2
-        position.append(state['height'] / 2)
+        if use_bounding_box:
+            position.append(state['height'] / 2)
 
         v = self.spawn_object(
             vehicle_class, position=position, heading=state["heading"], vehicle_config=v_cfg, name=obj_name

metadrive/tests/test_component/test_lane_line_detector.py

@@ -484,131 +484,131 @@ def test_pg_map(render=False):
 ]
 nuscenes_gt_2 = [
     1.0,
-    0.7808130979537964,
-    0.4014144241809845,
-    0.497048556804657,
-    0.21977420151233673,
-    0.1833307445049286,
-    0.2741309106349945,
-    0.24397589266300201,
-    0.22296150028705597,
-    0.20816059410572052,
-    0.19839195907115936,
-    0.19227449595928192,
-    0.18942095339298248,
-    0.1900409460067749,
-    0.19369441270828247,
-    0.20063060522079468,
-    0.1172584742307663,
-    0.12590330839157104,
-    0.13827820122241974,
-    0.15608078241348267,
-    0.18244224786758423,
-    0.2237718254327774,
-    0.2953447997570038,
-    0.4444361925125122,
-    0.9753275513648987,
-    0.11675211787223816,
-    0.04168549180030823,
-    0.038301981985569,
-    0.035907551646232605,
-    0.034303370863199234,
-    0.033339571207761765,
-    0.03293364867568016,
-    0.03305203467607498,
-    0.035654980689287186,
-    0.0451875701546669,
-    0.06304079294204712,
-    1.0,
-    0.9279412627220154,
-    0.47582244873046875,
-    0.3268144130706787,
-    0.25280630588531494,
-    0.20891083776950836,
-    0.18038643896579742,
-    0.16094817221164703,
-    0.1473899632692337,
-    0.1379445493221283,
-    0.1312660276889801,
-    0.1269902139902115,
-    0.12537911534309387,
-    0.1267208307981491,
-    0.3988616168498993,
-    0.39293304085731506,
+    0.779081404209137,
+    0.4008123576641083,
+    0.4965006411075592,
+    0.2193922996520996,
+    0.1830165535211563,
+    0.27383944392204285,
+    0.243718221783638,
+    0.22272785007953644,
+    0.20793406665325165,
+    0.19818702340126038,
+    0.19207695126533508,
+    0.1892271488904953,
+    0.18984796106815338,
+    0.1934981793165207,
+    0.20042887330055237,
+    0.11704640090465546,
+    0.1256762593984604,
+    0.1380302459001541,
+    0.15554210543632507,
+    0.1821221262216568,
+    0.22327348589897156,
+    0.294590562582016,
+    0.4437068700790405,
+    0.9753552079200745,
+    0.12470095604658127,
+    0.04193984344601631,
+    0.03848263621330261,
+    0.03607578203082085,
+    0.034464310854673386,
+    0.03349597752094269,
+    0.03308868035674095,
+    0.033208273351192474,
+    0.03570190817117691,
+    0.04525022581219673,
+    0.06312886625528336,
+    1.0,
+    0.9281278848648071,
+    0.4757794439792633,
+    0.326820969581604,
+    0.2528233230113983,
+    0.2089240849018097,
+    0.1803993582725525,
+    0.16096088290214539,
+    0.1474027931690216,
+    0.1379578709602356,
+    0.13127265870571136,
+    0.12699860334396362,
+    0.12540613114833832,
+    0.1267486810684204,
+    0.39884063601493835,
+    0.39179351925849915,
     0.5,
     0.5,
     0.5,
-    0.00011851061572087929,
-    1.0,
-    0.7808130979537964,
-    0.4014144241809845,
-    0.497048556804657,
-    0.21977420151233673,
-    0.1833307445049286,
-    0.2741309106349945,
-    0.24397589266300201,
-    0.22296150028705597,
-    0.20816059410572052,
-    0.19839195907115936,
-    0.19227449595928192,
-    0.18942095339298248,
-    0.1900409460067749,
-    0.19369441270828247,
-    0.20063060522079468,
-    0.1172584742307663,
-    0.12590330839157104,
-    0.13827820122241974,
-    0.15608078241348267,
-    0.18244224786758423,
-    0.2237718254327774,
-    0.2953447997570038,
-    0.4444361925125122,
-    0.9753275513648987,
-    0.11675211787223816,
-    0.04168549180030823,
-    0.038301981985569,
-    0.035907551646232605,
-    0.034303370863199234,
-    0.033339571207761765,
-    0.03293364867568016,
-    0.03305203467607498,
-    0.035654980689287186,
-    0.0451875701546669,
-    0.06304079294204712,
-    1.0,
-    0.9279412627220154,
-    0.47582244873046875,
-    0.3268144130706787,
-    0.25280630588531494,
-    0.20891083776950836,
-    0.18038643896579742,
-    0.16094817221164703,
-    0.1473899632692337,
-    0.1379445493221283,
-    0.1312660276889801,
-    0.1269902139902115,
-    0.12537911534309387,
-    0.1267208307981491,
-    0.4396708011627197,
-    0.4396708011627197,
-    0.4618304371833801,
-    0.4618304371833801,
-    0.483804315328598,
-    0.483804315328598,
-    0.505452036857605,
-    0.505452036857605,
-    0.5266749858856201,
-    0.5266749858856201,
-    0.547338604927063,
-    0.547338604927063,
-    0.5673576593399048,
-    0.5673576593399048,
-    0.5866857767105103,
-    0.5866857767105103,
-    0.6053164601325989,
-    0.6053164601325989,
+    2.9294713385752402e-05,
+    1.0,
+    0.779081404209137,
+    0.176986426115036,
+    0.4965006411075592,
+    0.2193922996520996,
+    0.1830165535211563,
+    0.27383944392204285,
+    0.243718221783638,
+    0.22272785007953644,
+    0.20793406665325165,
+    0.19818702340126038,
+    0.19207695126533508,
+    0.1892271488904953,
+    0.18984796106815338,
+    0.1934981793165207,
+    0.20042887330055237,
+    0.11704640090465546,
+    0.1256762593984604,
+    0.1380302459001541,
+    0.15554210543632507,
+    0.1821221262216568,
+    0.22327348589897156,
+    0.294590562582016,
+    0.4437068700790405,
+    0.9753552079200745,
+    0.12470095604658127,
+    0.04193984344601631,
+    0.03848263621330261,
+    0.03607578203082085,
+    0.034464310854673386,
+    0.03349597752094269,
+    0.03308868035674095,
+    0.033208273351192474,
+    0.03570190817117691,
+    0.04525022581219673,
+    0.06312886625528336,
+    1.0,
+    0.9281278848648071,
+    0.4757794439792633,
+    0.326820969581604,
+    0.2528233230113983,
+    0.2089240849018097,
+    0.1803993582725525,
+    0.16096088290214539,
+    0.1474027931690216,
+    0.1379578709602356,
+    0.13127265870571136,
+    0.12699860334396362,
+    0.12540613114833832,
+    0.1267486810684204,
+    0.4397680163383484,
+    0.4397680163383484,
+    0.46192362904548645,
+    0.46192362904548645,
+    0.48389288783073425,
+    0.48389288783073425,
+    0.5055355429649353,
+    0.5055355429649353,
+    0.5267529487609863,
+    0.5267529487609863,
+    0.5474106073379517,
+    0.5474106073379517,
+    0.5674235820770264,
+    0.5674235820770264,
+    0.5867453813552856,
+    0.5867453813552856,
+    0.6053695678710938,
+    0.6053695678710938,
     0.0,
-    0.46758297085762024,
+    0.46757614612579346,
     0.0,
     0.0,
     1.0,
@@ -679,5 +679,5 @@ def test_nuscenes(render=False):
 
 
 if __name__ == '__main__':
-    # test_nuscenes(True)
-    test_pg_map(False)
+    test_nuscenes(False)
+    # test_pg_map(False)