Added polyline interpolation (in the new lane_helpers sub-package)

.gitignore

@@ -18,4 +18,3 @@ __pycache__/
 *.whl
 
 *.log
-

docker/Dockerfile

@@ -113,8 +113,8 @@ RUN pip install pandas==1.5.3 \
     numba==0.59 \
     pyquaternion==0.9.9
 
-RUN pip install nuscenes-devkit && \
-    pip install shapely tqdm pillow networkx fire
+RUN pip install nuscenes-devkit==1.2.0 && \
+    pip install shapely==2.0.7 tqdm==4.67.3 pillow==12.2.0 networkx==3.4.2 fire==0.7.1
 
 RUN pip install pytest pytest-timeout
 RUN pip install pynvml

docs/Makefile

@@ -23,8 +23,9 @@ help:
 
 # Generate namespace package documentation before building
 generate:
-	python3 mirror_referenced_dirs.py
 	python3 generate_new_namespace_package_docs.py
+	python3 generate_package_docs_assets.py
+	python3 mirror_referenced_dirs.py
 	python3 update_docs_index.py
 
 # Sync the root README into the docs tree before building
@@ -41,7 +42,7 @@ clean:
 	@$(SPHINXBUILD) -M clean "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
 	rm -rf $(BUILDDIR)/
 	rm -rf api/generated/
-	rm -rf ../packages/*/docs/generated/
+	rm -rf ../packages/*/docs/_generated/
 
 # Auto-build documentation (watches for changes)
 livehtml: sync-readme generate

docs/generate_package_docs_assets.py

@@ -0,0 +1,176 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2026, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+from dataclasses import dataclass
+import importlib.util
+from pathlib import Path
+import sys
+from types import ModuleType
+from typing import Callable
+
+
+@dataclass(frozen=True)
+class PackageDocsContext:
+    project_root: Path
+    namespace_package: str
+    package_name: str
+    package_root: Path
+    docs_root: Path
+    generated_dir: Path
+
+
+HookFunction = Callable[[PackageDocsContext], None]
+_GENERATED_ASSET_GITIGNORE = "*\n"
+
+
+def _load_hook_module(hook_path: Path, package_name: str) -> ModuleType:
+    # Temporary module name for the imported hook.
+    module_name = f"_accvlab_docs_assets_{package_name}"
+
+    # Import
+    spec = importlib.util.spec_from_file_location(module_name, hook_path)
+    if spec is None or spec.loader is None:
+        raise ImportError(f"Could not create import spec for docs asset hook: {hook_path}")
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+
+    return module
+
+
+def _get_hook_function(module: ModuleType, hook_path: Path) -> HookFunction:
+    hook_function = getattr(module, "generate_docs_assets", None)
+    if not callable(hook_function):
+        raise AttributeError(
+            f"Docs asset hook must define a callable generate_docs_assets(context): {hook_path}"
+        )
+    return hook_function
+
+
+def _prepare_generated_dir(context: PackageDocsContext) -> None:
+    """Create the package's generated docs asset directory and keep it untracked."""
+    context.generated_dir.mkdir(parents=True, exist_ok=True)
+    (context.generated_dir / ".gitignore").write_text(_GENERATED_ASSET_GITIGNORE, encoding="utf-8")
+
+
+def _build_context(project_root: Path, namespace_package: str) -> PackageDocsContext:
+    package_name = namespace_package.split(".")[-1]
+    package_root = project_root / "packages" / package_name
+    docs_root = package_root / "docs"
+    generated_dir = docs_root / "_generated"
+    ctx = PackageDocsContext(
+        project_root=project_root,
+        namespace_package=namespace_package,
+        package_name=package_name,
+        package_root=package_root,
+        docs_root=docs_root,
+        generated_dir=generated_dir,
+    )
+    return ctx
+
+
+def _generate_assets_for_package(
+    *,
+    project_root: Path,
+    namespace_package: str,
+    verbose: bool,
+) -> bool:
+    context = _build_context(project_root, namespace_package)
+    hook_path = context.docs_root / "_on_doc_generation.py"
+    if not hook_path.exists():
+        if verbose:
+            print(f"No docs asset hook for {context.package_name}")
+        return False
+
+    if verbose:
+        print(f"Running docs asset hook for {context.package_name}: {hook_path}")
+    module = _load_hook_module(hook_path, context.package_name)
+    _prepare_generated_dir(context)
+    hook_function = _get_hook_function(module, hook_path)
+    hook_function(context)
+    print(f"Generated docs assets for {context.package_name}")
+    return True
+
+
+def _parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description="Run optional package-local documentation asset generation hooks.",
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+    )
+    parser.add_argument(
+        "-v",
+        "--verbose",
+        action="store_true",
+        help="Enable verbose output.",
+    )
+    parser.add_argument(
+        "--package",
+        dest="package_names",
+        action="append",
+        help="Package name to process, such as lane_helpers. Can be passed more than once.",
+    )
+    return parser.parse_args()
+
+
+def main() -> int:
+    args = _parse_args()
+    docs_dir = Path(__file__).resolve().parent
+    project_root = docs_dir.parent
+    sys.path.insert(0, str(project_root))
+
+    try:
+        from namespace_packages_config import NAMESPACE_PACKAGES
+    except ImportError as exc:
+        print(
+            f"Error: Could not import NAMESPACE_PACKAGES from namespace_packages_config.py: {exc}",
+            file=sys.stderr,
+        )
+        return 1
+
+    package_filter = set(args.package_names or [])
+    namespace_packages = [
+        namespace_package
+        for namespace_package in NAMESPACE_PACKAGES
+        if not package_filter or namespace_package.split(".")[-1] in package_filter
+    ]
+    if package_filter and len(namespace_packages) != len(package_filter):
+        found_package_names = {namespace_package.split(".")[-1] for namespace_package in namespace_packages}
+        missing_package_names = sorted(package_filter - found_package_names)
+        print(f"Error: Unknown namespace package(s): {', '.join(missing_package_names)}", file=sys.stderr)
+        return 1
+
+    hook_count = 0
+    for namespace_package in namespace_packages:
+        package_name = namespace_package.split(".")[-1]
+        try:
+            hook_ran = _generate_assets_for_package(
+                project_root=project_root,
+                namespace_package=namespace_package,
+                verbose=args.verbose,
+            )
+        except Exception as exc:
+            print(f"Error: docs asset generation failed for {package_name}: {exc}", file=sys.stderr)
+            return 1
+        if hook_ran:
+            hook_count += 1
+
+    if args.verbose:
+        print(f"Ran {hook_count} package docs asset hook(s).")
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

docs/guides/DEVELOPMENT_GUIDE.md

@@ -48,7 +48,8 @@ There are two example projects which showcase how a namespace package is structu
 - `packages/example_package`: Showcases a package containing PyTorch extensions built using
   `CppExtension` and `CUDAExtension` provided by PyTorch as well as an external implementation (see
   [External Implementations](#external-implementations) section for more details on external implementations)
-  as described below.
+  as described below. It also includes a package-local documentation asset hook that generates a simple plot
+  from committed CSV data under `evaluation_results/` during the docs build.
 - `packages/example_skbuild_package`: Showcases a package using `scikit-build` for C++/CUDA implementation 
   (see the [Alternative: SKBuild-Based Packages](#alternative-skbuild-based-packages) section for more 
   details on this approach).
@@ -70,6 +71,8 @@ To add a new namespace package (e.g., `example_package`), you need to create:
 | **Setup** | `packages/example_package/setup.py` | Package build configuration |
 | **Project Config** | `packages/example_package/pyproject.toml` | Modern Python project configuration and authoritative dependency definition |
 | **Documentation include list (optional)** | `packages/example_package/docu_referenced_dirs.txt` | List additional directories referenced by the docs (besides `docs/`). See [Documentation Setup Guide](DOCUMENTATION_SETUP_GUIDE.md) for more details.|
+| **Documentation asset hook (optional)** | `packages/example_package/docs/_on_doc_generation.py` | Generate package-owned docs assets such as plots from committed evaluation data. See [Documentation Setup Guide](DOCUMENTATION_SETUP_GUIDE.md#package-local-generated-assets). |
+| **Evaluation results (optional)** | `packages/example_package/evaluation_results/` | Package-owned committed inputs for generating docs assets, such as data to plot. |
 
 > **ℹ️ Note**: Apart from the above, further folders/files can be included (and made use of manually or added to the 
 > documentation) if needed. A typical use case is to include e.g. an `examples` directory which is:
@@ -84,26 +87,29 @@ The following diagram shows the relevant project structure containing the folder
 
 ```
 accvlab/
-├── packages/                        # Namespace packages directory
+├── packages/                         # Namespace packages directory
 │   ├── optim_test_tools/...
 │   ├── batching_helpers/...
-│   └── example_package/             # ← New namespace package
-│       ├── accvlab/                 # ← Namespace root
-│       │   └── example_package/     # ← Implementation for "example_package" package
+│   └── example_package/              # ← New namespace package
+│       ├── accvlab/                  # ← Namespace root
+│       │   └── example_package/      # ← Implementation for "example_package" package
 │       │       ├── __init__.py
-│       │       ├── csrc/            # ← C++/CUDA sources
-│       │       └── include/         # ← Headers
-│       ├── ext_impl/                # ← Optional: external implementation
+│       │       ├── csrc/             # ← C++/CUDA sources
+│       │       └── include/          # ← Headers
+│       ├── ext_impl/                 # ← Optional: external implementation
 │       │   ├── build_and_copy.sh
 │       │   └── ...
-│       ├── tests/                   # ← Tests for "example_package" package
-│       ├── docs/                    # ← Documentation for "example_package" package
-│       ├── setup.py                 # ← Package build configuration
-│       ├── pyproject.toml           # ← Project configuration (including dependencies)
-│       └── docu_referenced_dirs.txt # ← Optional: list additional directories referenced by the docs (besides `docs/`)
-├── build_config/                    # Shared build utilities
-├── docs/                            # Main documentation
-└── namespace_packages_config.py     # ← Namespace package needs to be listed here
+│       ├── tests/                    # ← Tests for "example_package" package
+│       ├── evaluation_results/       # ← Optional committed inputs for generated docs assets
+│       ├── docs/                     # ← Documentation for "example_package" package
+│       │   ├── _on_doc_generation.py # ← Optional docs asset hook
+│       │   └── ...
+│       ├── setup.py                  # ← Package build configuration
+│       ├── pyproject.toml            # ← Project configuration (including dependencies)
+│       └── docu_referenced_dirs.txt  # ← Optional: list additional directories referenced by the docs (besides `docs/`)
+├── build_config/                     # Shared build utilities
+├── docs/                             # Main documentation
+└── namespace_packages_config.py      # ← Namespace package needs to be listed here
 ```
 
 Note that inside the package, there is the directory structure `accvlab/example_package`. This is where the 
@@ -238,6 +244,11 @@ root = "../.."
 
 Use this pattern for your own namespace package, adapting the dependency names as needed.
 
+Use `[project.optional-dependencies].optional` for dependencies needed by tests, examples, or package-local
+documentation asset hooks, but not by the core package at runtime. For example, if a docs hook generates plots
+from committed data, put the plotting library in the package's optional dependencies rather than in the base
+`[project].dependencies`.
+
 > **ℹ️ Note**: The `accvlab-build-config @ file:../../build_config` build dependency is intentionally a
 > local path reference. From a package under `packages/<package_name>/`, it resolves to the repository's `build_config/` package 
 > so isolated pip builds use the local helper package. See
@@ -317,6 +328,18 @@ Most of the contained packages extend this basic structure considerably to provi
 documentation. Please see the [Documentation Setup Guide](DOCUMENTATION_SETUP_GUIDE.md) for more details on 
 the documentation system and how to set it up.
 
+If your package needs generated docs assets, add `packages/<package_name>/docs/_on_doc_generation.py`. The
+documentation build creates `packages/<package_name>/docs/_generated/`, keeps it untracked, and passes that
+directory to the hook. Keep user-facing `.rst`/`.md` files static and reference generated assets with relative
+paths such as `_generated/<asset_name>.png`. The hook should generate those assets from committed inputs and
+fail clearly if required inputs are missing. Store committed plot or evaluation inputs outside the package
+`docs/` folder, for example under `packages/<package_name>/evaluation_results/`, so Sphinx does not discover
+data tables as standalone documentation pages.
+
+> **⚠️ Important**: Documentation asset hooks must not run evaluations, benchmarks, or other measurement
+> workflows. They should only regenerate documentation assets, such as plots, from data that is already
+> available in the repository.
+
 #### 8. Test Your Package
 
 ```bash
@@ -352,6 +375,10 @@ When adding a new namespace package, ensure you have:
 - [ ] **Documentation**: Generated with docs scripts and customized intro
 - [ ] **Documentation include list (optional)**: `docu_referenced_dirs.txt` created and populated if extra 
   folders (e.g. `examples/`) are referenced and are needed to build the documentation
+- [ ] **Documentation asset hook (optional)**: `_on_doc_generation.py` added if the package needs generated
+  documentation assets
+- [ ] **Evaluation results (optional)**: `packages/<package_name>/evaluation_results/` contains committed
+  inputs for generated docs assets if needed
 - [ ] **Examples (optional)**: `packages/<package_name>/examples/` created and referenced from docs if used
 - [ ] **Dependencies**: Declared runtime and optional dependencies in `pyproject.toml`
 - [ ] **External implementation**: (Optional) `packages/<package_name>/ext_impl/` for external builds