PointcloudEpisodeFrame¶

class PointcloudEpisodeFrame[source]¶

Bases: supervisely.video_annotation.frame.Frame

PointcloudEpisodeFrame object for PointcloudEpisodeAnnotation. PointcloudEpisodeFrame object is immutable.

Parameters

index : int: Index of the PointcloudEpisodeFrame.
figures : list, optional: List of PointcloudFigure.

Usage example

import supervisely as sly
from supervisely.geometry.cuboid_3d import Cuboid3d, Vector3d
from supervisely.pointcloud_annotation.pointcloud_episode_object_collection import PointcloudEpisodeObjectCollection

# Create pointcloud object
obj_class_car = sly.ObjClass('car', Cuboid3d)
pointcloud_obj_car = sly.PointcloudEpisodeObject(obj_class_car)
objects = PointcloudEpisodeObjectCollection([pointcloud_obj_car])

# Create figure
frame_index = 7
position, rotation, dimension = Vector3d(-3.4, 28.9, -0.7), Vector3d(0., 0, -0.03), Vector3d(1.8, 3.9, 1.6)
cuboid = Cuboid3d(position, rotation, dimension)

figure = sly.PointcloudFigure(pointcloud_obj_car, cuboid, frame_index=frame_index)

frame = sly.PointcloudEpisodeFrame(frame_index, figures=[figure])
print(frame.to_json())
# Output: {
#     "figures": [
#         {
#         "geometry": {
#             "dimensions": { "x": 1.8, "y": 3.9, "z": 1.6 },
#             "position": { "x": -3.4, "y": 28.9, "z": -0.7 },
#             "rotation": { "x": 0.0, "y": 0, "z": -0.03 }
#         },
#         "geometryType": "cuboid_3d",
#         "key": "cd61788d6faa401b9723f066f92a8a30",
#         "objectKey": "c081cb9f34e54ff2bd85e04e7713ed76"
#         }
#     ],
#     "index": 7
# }

Methods

`clone`	rtype `PointcloudEpisodeFrame`
`from_json`	Convert a json dict to PointcloudEpisodeFrame.
`key`	Get Frame key (index) value.
`to_json`	Convert the Frame to a json dict.
`validate_figures_bounds`	Checks if image with given size contains a figure.

Attributes

`figures`	Frame figures.
`index`	Frame index.

figure_type¶: alias of supervisely.pointcloud_annotation.pointcloud_figure.PointcloudFigure

classmethod from_json(data, objects, frames_count=None, key_id_map=None)[source]¶

Convert a json dict to PointcloudEpisodeFrame. Read more about Supervisely format.

Parameters

data : dict: Dict in json format.
objects : PointcloudEpisodeObjectCollection: PointcloudEpisodeObjectCollection object.
frames_count : int, optional: Number of frames in point cloud.
key_id_map : KeyIdMap, optional: KeyIdMap object.

Raises

ValueError if frame index < 0 and if frame index > number of frames in point cloud

Returns

PointcloudEpisodeFrame object

Return type

PointcloudEpisodeFrame

Usage example

import supervisely as sly
from supervisely.geometry.cuboid_3d import Cuboid3d, Vector3d
from supervisely.pointcloud_annotation.pointcloud_episode_object_collection import PointcloudEpisodeObjectCollection

obj_class_car = sly.ObjClass('car', Cuboid3d)
pointcloud_obj_car = sly.PointcloudEpisodeObject(obj_class_car)
objects = PointcloudEpisodeObjectCollection([pointcloud_obj_car])

frame_index = 7
position, rotation, dimension = Vector3d(-3.4, 28.9, -0.7), Vector3d(0., 0, -0.03), Vector3d(1.8, 3.9, 1.6)
cuboid = Cuboid3d(position, rotation, dimension)

figure = sly.PointcloudFigure(pointcloud_obj_car, cuboid, frame_index=frame_index)

frame = sly.PointcloudEpisodeFrame(frame_index, figures=[figure])
frame_json = frame.to_json()

frame_from_json = sly.PointcloudEpisodeFrame.from_json(frame_json, objects)

key()¶

Get Frame key (index) value.

Returns

Frame key (index) value

Return type

int

Usage example

import supervisely as sly

frame_index = 7
geometry = sly.Rectangle(0, 0, 100, 100)
class_car = sly.ObjClass('car', sly.Rectangle)
object_car = sly.VideoObject(class_car)
figure_car = sly.VideoFigure(object_car, geometry, frame_index)

frame = sly.Frame(frame_index, figures=[figure_car])
print(frame.key())
# Output: 7

to_json(key_id_map=None)¶

Convert the Frame to a json dict. Read more about Supervisely format.

Parameters

key_id_map : KeyIdMap, optional: KeyIdMap object.

Returns

Json format as a dict

Return type

dict

Usage example

import supervisely as sly

frame_index = 7
geometry = sly.Rectangle(0, 0, 100, 100)
class_car = sly.ObjClass('car', sly.Rectangle)
object_car = sly.VideoObject(class_car)
figure_car = sly.VideoFigure(object_car, geometry, frame_index)

frame = sly.Frame(frame_index, figures=[figure_car])
frame_json = frame.to_json()
print(frame_json)
# Output: {
#     "index": 7,
#     "figures": [
#         {
#             "key": "39f3eb15791f4c72b7cdb98c17b3f0f1",
#             "objectKey": "319814af474941a98ca208c3fad5ed81",
#             "geometryType": "rectangle",
#             "geometry": {
#                 "points": {
#                     "exterior": [
#                         [
#                             0,
#                             0
#                         ],
#                         [
#                             100,
#                             100
#                         ]
#                     ],
#                     "interior": []
#                 }
#             }
#         }
#     ]
# }

validate_figures_bounds(img_size=None)¶

Checks if image with given size contains a figure.

Parameters

img_size : Tuple[int, int], optional: Size of the image (height, width).

Raises

OutOfImageBoundsException, if figure is out of image bounds

Returns

None

Return type

NoneType

Usage Example

import supervisely as sly

frame_index = 7
geometry = sly.Rectangle(0, 0, 100, 100)
class_car = sly.ObjClass('car', sly.Rectangle)
object_car = sly.VideoObject(class_car)
figure_car = sly.VideoFigure(object_car, geometry, frame_index)
frame = sly.Frame(frame_index, figures=[figure_car])

image_size = (20, 200)
frame.validate_figures_bounds(image_size)
# raise OutOfImageBoundsException("Figure is out of image bounds")

property figures¶

Frame figures.

Returns

List of figures on Frame.

Return type

List[VideoFigure]

Usage example

frame_figures = frame.figures

property index¶

Frame index.

Returns

Frame index.

Return type

int

Usage example

frame_index = frame.index # 7