PointcloudEpisodeFrame¶

class PointcloudEpisodeFrame(index, figures=None)[source]¶

Bases: Frame

Single frame in point cloud episode; holds PointcloudFigures at given index. Immutable.

Same parameters as Frame.

Parameters:

index : int¶: Frame index.
figures=None¶: List of PointcloudFigures.

Usage Example:

import supervisely as sly
from supervisely.geometry.cuboid_3d import Cuboid3d, Vector3d

obj_class_car = sly.ObjClass('car', Cuboid3d)
pointcloud_obj_car = sly.PointcloudEpisodeObject(obj_class_car)
cuboid = Cuboid3d(
    Vector3d(-3.4, 28.9, -0.7), Vector3d(0., 0, -0.03), Vector3d(1.8, 3.9, 1.6)
)
figure = sly.PointcloudFigure(pointcloud_obj_car, cuboid, frame_index=7)
frame = sly.PointcloudEpisodeFrame(7, figures=[figure])
print(frame.to_json())

Methods

`clone`
`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 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¶: Pointcloud episode objects collection.
frames_count : int¶: Number of frames in pointcloud episode.
key_id_map=None¶: Key ID map.

Raises:

ValueError – if frame index < 0 and if frame index > number of frames in pointcloud episode

Returns:

Pointcloud episode frame 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=None¶: 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 :rtype: None

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")