# coding: utf-8
from supervisely.api.entity_annotation.entity_annotation_api import EntityAnnotationAPI
from supervisely.api.module_api import ApiField
from supervisely.pointcloud_annotation.pointcloud_episode_annotation import (
PointcloudEpisodeAnnotation,
)
from supervisely.video_annotation.key_id_map import KeyIdMap
[docs]class PointcloudEpisodeAnnotationAPI(EntityAnnotationAPI):
"""
:class:`PointcloudEpisodeAnnotation<supervisely.pointcloud_annotation.pointcloud_episode_annotation.PointcloudEpisodeAnnotation>` for a point clouds episodes.
:class:`PointcloudEpisodeAnnotationAPI<PointcloudEpisodeAnnotationAPI>` object is immutable.
:param api: API connection to the server.
:type api: Api
:Usage example:
.. code-block:: python
import os
from dotenv import load_dotenv
import supervisely as sly
# Load secrets and create API object from .env file (recommended)
# Learn more here: https://developer.supervisely.com/getting-started/basics-of-authentication
if sly.is_development():
load_dotenv(os.path.expanduser("~/supervisely.env"))
api = sly.Api.from_env()
# Pass values into the API constructor (optional, not recommended)
# api = sly.Api(server_address="https://app.supervise.ly", token="4r47N...xaTatb")
dataset_id = 62664
ann_info = api.pointcloud_episode.annotation.download(dataset_id)
print(ann_info)
"""
_method_download = "point-clouds.episodes.annotations.info"
_entity_ids_str = ApiField.POINTCLOUD_IDS
[docs] def download(self, dataset_id: int) -> dict:
"""
Download information about PointcloudEpisodeAnnotation by dataset ID from API.
:param dataset_id: :class:`Dataset<supervisely.project.project.Dataset>` ID in Supervisely.
:type dataset_id: int
:return: Dictionary woth information about PointcloudEpisodeAnnotation in json format
:rtype: :class:`dict`
:Usage example:
.. code-block:: python
import supervisely as sly
from pprint import pprint
os.environ['SERVER_ADDRESS'] = 'https://app.supervise.ly'
os.environ['API_TOKEN'] = 'Your Supervisely API Token'
api = sly.Api.from_env()
dataset_id = 62664
ann_info = api.pointcloud_episode.annotation.download(dataset_id)
pprint(ann_info)
# Output: {
# 'datasetId': 62664,
# 'description': '',
# 'frames': [
# {'figures': [{'classId': None,
# 'createdAt': '2023-04-05T08:55:52.445Z',
# 'description': '',
# 'geometry': {'dimensions': {'x': 2.3652234,
# 'y': 23.291742,
# 'z': 3.326648},
# 'position': {'x': 86.29707472161449,
# 'y': -14.472597682830635,
# 'z': 0.8842007608554671},
# 'rotation': {'x': 0,
# 'y': 0,
# 'z': -1.6962800995995606}},
# 'geometryType': 'cuboid_3d',
# 'id': 87830452,
# 'labelerLogin': 'almaz',
# 'objectId': 5565741,
# 'updatedAt': '2023-04-05T08:55:52.445Z'},
# {'classId': None,
# 'createdAt': '2023-04-05T08:55:52.445Z',
# 'description': '',
# 'geometry': {'indices': [783,
# 784,
# ...
# 28326,
# 30294]},
# 'geometryType': 'point_cloud',
# 'id': 87830456,
# 'labelerLogin': 'almaz',
# 'objectId': 5565740,
# 'updatedAt': '2023-04-05T08:55:52.445Z'}],
# 'index': 0,
# 'pointCloudId': 19618654},...
# ],
# 'tags': []
# }
"""
response = self._api.post(self._method_download, {ApiField.DATASET_ID: dataset_id})
return response.json()[0]
[docs] def download_bulk(self, dataset_id, entity_ids):
"""Not supported for point cloud episodes."""
raise RuntimeError("Not supported for episodes")
[docs] def append(
self,
dataset_id: int,
ann: PointcloudEpisodeAnnotation,
frame_to_pointcloud_ids,
key_id_map: KeyIdMap = None,
) -> None:
"""
Loads an PointcloudEpisodeAnnotation to a given point cloud ID in the API.
:param pointcloud_id: Point cloud ID in Supervisely.
:type pointcloud_id: int
:param ann: PointcloudEpisodeAnnotation object.
:type ann: PointcloudEpisodeAnnotation
:param frame_to_pointcloud_ids: List of dictionaries with frame_id and name of pointcloud episodes
:type frame_to_pointcloud_ids: List[dict]
:param key_id_map: KeyIdMap object.
:type key_id_map: KeyIdMap, optional
:return: None
:rtype: :class:`NoneType`
:Usage example:
.. code-block:: python
import supervisely as sly
os.environ['SERVER_ADDRESS'] = 'https://app.supervise.ly'
os.environ['API_TOKEN'] = 'Your Supervisely API Token'
api = sly.Api.from_env()
pcd_episodes_id = 198704259
api.pointcloud_episode.annotation.append(pcd_episodes_id, pointcloud_ann)
"""
if key_id_map is None:
# create for internal purposes (to link figures and tags to objects)
key_id_map = KeyIdMap()
figures = []
pointcloud_ids = []
for frame in ann.frames:
for fig in frame.figures:
if frame_to_pointcloud_ids.get(frame.index) is None: # skip unmapped frames
continue
figures.append(fig)
pointcloud_ids.append(frame_to_pointcloud_ids[frame.index])
if len(pointcloud_ids) == 0:
return
self._api.pointcloud_episode.object.append_bulk(pointcloud_ids[0], ann.objects, key_id_map)
self._api.pointcloud_episode.figure.append_to_dataset(
dataset_id, figures, pointcloud_ids, key_id_map
)