descartes 1.1.0 and Shapely~=2.0.3 mismatch, too many indices for array: array is 0-dimensional, but 2 were indexed

[OfficalOffical]

Hello,

Summary :

With the new version of python 3.12 the code also updates shapely to 2.0.3 but the problem is it's still using old version of descartes that creates mismatch. This code was working on 3.9 version but now it doesn't.

fig, ax = nusc_map.render_map_patch(patch_box,
                                        layer_names=['walkway', 'drivable_area', 'road_segment'],
                                        figsize=(10, 10),
                                        alpha=0.5)

There are no ways to downgrade partially due to python 3.12 doesn't support old version of shapely so the only way to downgrade is rollback to the python version 3.9.

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

More detailed :

Dependancies on colab latest environment:

!pip install nuscenes-devkit

Requirement already satisfied: nuscenes-devkit in /usr/local/lib/python3.12/dist-packages (1.2.0)
Requirement already satisfied: cachetools in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (5.5.2)
Requirement already satisfied: descartes in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (1.1.0)
Requirement already satisfied: fire in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (0.7.1)
Requirement already satisfied: matplotlib>=3.6.0 in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (3.10.0)
Requirement already satisfied: numpy<2.0.0,>=1.22.0 in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (1.26.4)
Requirement already satisfied: opencv-python-headless>=4.5.4.58 in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (4.11.0.86)
Requirement already satisfied: Pillow>6.2.1 in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (11.3.0)
Requirement already satisfied: pyquaternion>=0.9.5 in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (0.9.9)
Requirement already satisfied: scikit-learn in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (1.6.1)
Requirement already satisfied: scipy in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (1.16.3)
Requirement already satisfied: Shapely~=2.0.3 in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (2.0.7)
Requirement already satisfied: tqdm in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (4.67.1)
Requirement already satisfied: parameterized in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (0.9.0)
Requirement already satisfied: pycocotools>=2.0.1 in /usr/local/lib/python3.12/dist-packages (from nuscenes-devkit) (2.0.10)
Requirement already satisfied: contourpy>=1.0.1 in /usr/local/lib/python3.12/dist-packages (from matplotlib>=3.6.0->nuscenes-devkit) (1.3.3)
Requirement already satisfied: cycler>=0.10 in /usr/local/lib/python3.12/dist-packages (from matplotlib>=3.6.0->nuscenes-devkit) (0.12.1)
Requirement already satisfied: fonttools>=4.22.0 in /usr/local/lib/python3.12/dist-packages (from matplotlib>=3.6.0->nuscenes-devkit) (4.60.1)
Requirement already satisfied: kiwisolver>=1.3.1 in /usr/local/lib/python3.12/dist-packages (from matplotlib>=3.6.0->nuscenes-devkit) (1.4.9)
Requirement already satisfied: packaging>=20.0 in /usr/local/lib/python3.12/dist-packages (from matplotlib>=3.6.0->nuscenes-devkit) (25.0)
Requirement already satisfied: pyparsing>=2.3.1 in /usr/local/lib/python3.12/dist-packages (from matplotlib>=3.6.0->nuscenes-devkit) (3.2.5)
Requirement already satisfied: python-dateutil>=2.7 in /usr/local/lib/python3.12/dist-packages (from matplotlib>=3.6.0->nuscenes-devkit) (2.9.0.post0)
Requirement already satisfied: termcolor in /usr/local/lib/python3.12/dist-packages (from fire->nuscenes-devkit) (3.2.0)
Requirement already satisfied: joblib>=1.2.0 in /usr/local/lib/python3.12/dist-packages (from scikit-learn->nuscenes-devkit) (1.5.2)
Requirement already satisfied: threadpoolctl>=3.1.0 in /usr/local/lib/python3.12/dist-packages (from scikit-learn->nuscenes-devkit) (3.6.0)
Requirement already satisfied: six>=1.5 in /usr/local/lib/python3.12/dist-packages (from python-dateutil>=2.7->matplotlib>=3.6.0->nuscenes-devkit) (1.17.0)

Error :

IndexError                                Traceback (most recent call last)
[/tmp/ipython-input-421536422.py](https://localhost:8080/#) in <cell line: 0>()
    228 # === Execute enrichment ===
    229 processed_tracks = enrich_tracks_with_map_features(processed_tracks, nusc)
--> 230 plot_random_tracks_from_map(processed_tracks, 'singapore-onenorth', n=5)
    231 
    232 

7 frames
[/usr/local/lib/python3.12/dist-packages/descartes/patch.py](https://localhost:8080/#) in PolygonPath(polygon)
     61 
     62     vertices = concatenate([
---> 63         concatenate([asarray(t.exterior)[:, :2]] +
     64                     [asarray(r)[:, :2] for r in t.interiors])
     65         for t in polygon])

IndexError: too many indices for array: array is 0-dimensional, but 2 were indexed

Whole function that gives error:

def plot_partial_map_for_track(track, map_name):
    nusc_map = NuScenesMap(dataroot=DATAROOT, map_name=map_name)
    xy = np.array(track['raw_xy'])
    if len(xy) < 2:
        print("[WARNING] Not enough points to plot track.")
        return

    center = np.mean(xy, axis=0)
    buffer = 40
    x_min, y_min = center - buffer
    x_max, y_max = center + buffer
    patch_box = [x_min, y_min, x_max, y_max]

    fig, ax = nusc_map.render_map_patch(patch_box,
                                        layer_names=['walkway', 'drivable_area', 'road_segment'],
                                        figsize=(10, 10),
                                        alpha=0.5)

    x, y = xy[:, 0], xy[:, 1]
    ax.plot(x, y, color='blue', linewidth=5, alpha=1.0, label='Trajectory')
    ax.set_title(f"Trajectory Context | {map_name} | Crossroad: {track.get('crossroad')} | Illegal: {track.get('illegal_crossing')}")
    ax.legend()
    plt.grid(True)
    plt.show()

The plot is totaly blank now but Expected output :

[tgenlis83]

My crude and disgusting temporary fix, modifying the package directly.
.venv > lib > python3.XX > site-packages > descartes > patch.py > @ PolygonPath

def PolygonPath(polygon):
    ...
    else:  # GeoJSON
        polygon = getattr(polygon, '__geo_interface__', polygon)
        ptype = polygon["type"]
        if ptype == 'Polygon':
            polygon = [Polygon(polygon)]
        elif ptype == 'MultiPolygon':
            polygon = [Polygon(p) for p in polygon['coordinates']]
        else:
            raise ValueError(
                "A polygon or multi-polygon representation is required")
    +++
    def ensure_2d_coords(obj):
        """Convert coordinate object to 2D numpy array."""
        arr = asarray(obj)
        if arr.ndim == 0:
            # Handle LinearRing or other geometric objects
            if hasattr(obj, 'coords'):
                arr = asarray(list(obj.coords))
            else:
                arr = asarray(list(obj))
        if arr.ndim == 1:
            # If still 1D, try to reshape
            arr = arr.reshape(-1, 2) if len(arr) % 2 == 0 else arr.reshape(-1, 3)
        return arr[:, :2] if arr.shape[1] >= 2 else arr
    +++

    vertices = concatenate([
    +++
        concatenate([ensure_2d_coords(t.exterior)] +
                    [ensure_2d_coords(r) for r in t.interiors])
    +++
    ---
        concatenate([asarray(t.exterior)[:, :2]] +
                    [asarray(r)[:, :2] for r in t.interiors])
    ---
        for t in polygon])
    codes = concatenate([
        concatenate([coding(t.exterior)] +
                    [coding(r) for r in t.interiors]) for t in polygon])

    return Path(vertices, codes)

[OfficalOffical]

I still am getting same error this is the output of my data

=== Track ID: 48d58b69b40149aeb2e64aa4b1a9192f === sequence: [(1532402927647951, (0.0, 0.0)), (1532402928698048, (0.7470920204138036, 1.0150125679192799)), (1532402930152601, (1.8881646422451004, 2.3745600189876592)), (1532402931198511, (2.6545972899245505, 3.2263704418935304)), (1532402932647284, (3.832164169192886, 4.618753379468617)), (1532402934146351, (4.779436791873486, 5.865666198522227)), (1532402935197541, (5.450629141424154, 6.657624423370305)), (1532402936198962, (6.186152490793781, 7.387280782577958)), (1532402937698000, (7.370668689225272, 8.434682985961658)), (1532402939147334, (8.742014531666198, 9.330900917282186)), (1532402940197958, (9.672774656112074, 9.969192066164252)), (1532402941297218, (10.743498499092277, 10.743498499092274))] label: straight label_id: 0 x_vals: [0.0, 0.7470920204138036, 1.8881646422451004, 2.6545972899245505, 3.832164169192886, 4.779436791873486, 5.450629141424154, 6.186152490793781, 7.370668689225272, 8.742014531666198, 9.672774656112074, 10.743498499092277] y_vals: [0.0, 1.0150125679192799, 2.3745600189876592, 3.2263704418935304, 4.618753379468617, 5.865666198522227, 6.657624423370305, 7.387280782577958, 8.434682985961658, 9.330900917282186, 9.969192066164252, 10.743498499092274] raw_xy: [[378.888, 1153.348], [378.422, 1152.177], [377.662, 1150.573], [377.136, 1149.555], [376.349, 1147.91], [375.748, 1146.464], [375.299, 1145.528], [374.772, 1144.636], [373.891, 1143.323], [372.791, 1142.109], [372.052, 1141.256], [371.212, 1140.236]] avg_velocity: 1.1219757811903732 curvature: 37.62472435550073 duration: 13.649267 rot_angle: 2.8858228800236483 scene_token: cc8c0bf57f984915a77078b10eb33198 crossroad: 0 traffic_light: 0 ped_crossing: 0 illegal_crossing: 0

i use this code to plot the map :

# === Plot one path and partial map around it ===
def plot_partial_map_for_track(track, map_name):
    nusc_map = NuScenesMap(dataroot=DATAROOT, map_name=map_name)
    xy = np.array(track['raw_xy'])
    if len(xy) < 2:
        print("[WARNING] Not enough points to plot track.")
        return

    center = np.mean(xy, axis=0)
    buffer = 40
    x_min, y_min = center - buffer
    x_max, y_max = center + buffer
    patch_box = [x_min, y_min, x_max, y_max]

    fig, ax = nusc_map.render_map_patch(patch_box,
                                        layer_names=['walkway', 'drivable_area', 'road_segment'],
                                        figsize=(10, 10),
                                        alpha=0.5)

    x, y = xy[:, 0], xy[:, 1]
    ax.plot(x, y, color='blue', linewidth=5, alpha=1.0, label='Trajectory')
    ax.set_title(f"Trajectory Context | {map_name} | Crossroad: {track.get('crossroad')} | Illegal: {track.get('illegal_crossing')}")
    ax.legend()
    plt.grid(True)
    plt.show()

While using this code :

fig, ax = nusc_map.render_map_patch(patch_box,
               layer_names=['walkway', 'drivable_area', 'road_segment'],
               figsize=(10, 10),
               alpha=0.5)

I am passing three layer which has lenght

walkway <class 'list'> 838
drivable_area <class 'list'> 1
road_segment <class 'list'> 783

Shapely version: 2.0.7

--- Polygon Info ---
Type: <class 'shapely.geometry.polygon.Polygon'>
Polygon itself: POLYGON ((647.959147426801 1100.7984419898398, 646.7355656198197 1098.9433680763243, 645.4285162744578 1109.038328128195, 644.4775565752913 1116.1738321229989, 643.954643403902 1120.308927247362, 641.313082098667 1121.9772769178026, 638.1166248981317 1123.3832148561944, 633.8965472619052 1127.6340462646926, 629.4549317400729 1131.9513447887534, 631.2127774436252 1134.1566405649664, 635.5274348597464 1129.8540989664752, 639.173714172235 1126.2486481521198, 642.8190436265282 1122.9858059916025, 646.8477458019686 1119.5396320839372, 646.446373556497 1118.3120352257988, 645.427413613708 1118.8819588818603, 645.9315246604239 1115.862153429168, 646.8047118189982 1109.0626848162133, 647.959147426801 1100.7984419898398))
poly.exterior: LINEARRING (647.959147426801 1100.7984419898398, 646.7355656198197 1098.9433680763243, 645.4285162744578 1109.038328128195, 644.4775565752913 1116.1738321229989, 643.954643403902 1120.308927247362, 641.313082098667 1121.9772769178026, 638.1166248981317 1123.3832148561944, 633.8965472619052 1127.6340462646926, 629.4549317400729 1131.9513447887534, 631.2127774436252 1134.1566405649664, 635.5274348597464 1129.8540989664752, 639.173714172235 1126.2486481521198, 642.8190436265282 1122.9858059916025, 646.8477458019686 1119.5396320839372, 646.446373556497 1118.3120352257988, 645.427413613708 1118.8819588818603, 645.9315246604239 1115.862153429168, 646.8047118189982 1109.0626848162133, 647.959147426801 1100.7984419898398)
Number of interiors: 0
Exterior coords shape: (19, 2)
PolygonPatch failed: too many indices for array: array is 0-dimensional, but 2 were indexed