PointcloudFigure¶

class PointcloudFigure(parent_object, geometry, frame_index=None, key=None, class_id=None, labeler_login=None, updated_at=None, created_at=None, **kwargs)[source]¶

Bases: VideoFigure

Figure in point cloud annotation: 3D geometry (e.g. Cuboid3d) at a frame. Immutable.

Figure in point cloud annotation.

Parameters:

parent_object¶

PointcloudObject or PointcloudEpisodeObject.

geometry¶

3D geometry (Cuboid3d or Pointcloud).

frame_index : int, optional¶

Frame index. Optional for single-frame point clouds.

key : uuid.UUID, optional¶

UUID key. Auto-generated if not provided.

class_id : int, optional¶

Server-side class ID.

labeler_login : str, optional¶

Login of user who created the figure.

updated_at : str, optional¶

Last modification timestamp (ISO format).

created_at : str, optional¶

Creation timestamp (ISO format).

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.PointcloudObject(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=10)
print(figure.to_json())

Methods

clone	Makes a copy of PointcloudFigure with new fields, if fields are given, otherwise it will use fields of the original PointcloudFigure.
from_json	Convert a json dict to PointcloudFigure.
get_meta	Get metadata for the video figure.
key	Figure key.
to_json	Convert the VideoFigure to a json dict.
validate_bounds	Not supported for pointcloud.

Attributes

frame_index	Frame index of the current VideoFigure.
geometry	Geometry of the current VideoFigure.
parent_object	PointcloudObject of current PointcloudFigure.
priority	Priority of the figure (position of the figure relative to other overlapping or underlying figures).
smart_tool_input	Smart Tool parameters that were used for labeling.
status	Labeling status.
video_object	Not supported for pointcloud.

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

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

Parameters:

data : dict¶

Dict in json format.

objects¶

Pointcloud object collection or pointcloud episode object collection.

frame_index : int¶

Index of Frame to which PointcloudFigure belongs.

key_id_map=None¶

Key ID map.

Raises:

RuntimeError – if point cloudobject ID and pointcloud object key are None, if pointcloud object key and key_id_map are None, if pointcloud object with given id not found in key_id_map

Returns:

Pointcloud figure object.

Return type:

PointcloudFigure

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.PointcloudObject(obj_class_car)

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)
frame_index = 10
figure = sly.PointcloudFigure(pointcloud_obj_car, cuboid, frame_index=frame_index)
pointcloud_figure_json = figure.to_json(save_meta=True)

new_pointcloud_figure = sly.PointcloudFigure.from_json(
    pointcloud_figure_json,
    sly.PointcloudObjectCollection([pointcloud_obj_car]),
    frame_index
)

clone(parent_object=None, geometry=None, frame_index=None, key=None, class_id=None, labeler_login=None, updated_at=None, created_at=None)[source]¶

Makes a copy of PointcloudFigure with new fields, if fields are given, otherwise it will use fields of the original PointcloudFigure.

Parameters:

parent_object=None¶

Pointcloud object or pointcloud episode object.

geometry=None¶

Label Geometry.

frame_index : int, optional¶

Index of Frame to which PointcloudFigure belongs.

key : uuid.UUID¶

UUID key associated with the figure.

class_id : int, optional¶

ID of pointcloud object (or pointcloud episode object) to which PointcloudFigure belongs.

labeler_login : str, optional¶

Login of the user who created PointcloudFigure.

updated_at : str, optional¶

Date and Time when PointcloudFigure was modified last. Date Format: Year:Month:Day:Hour:Minute:Seconds. Example: ‘2021-01-22T19:37:50.158Z’.

created_at : str, optional¶

Date and Time when PointcloudFigure was created. Date Format is the same as in “updated_at” parameter.

Returns:

Pointcloud figure object.

Return type:

PointcloudFigure

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.PointcloudObject(obj_class_car)

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)
frame_index = 10
figure = sly.PointcloudFigure(pointcloud_obj_car, cuboid, frame_index=frame_index)

# Remember that PointcloudFigure object is immutable, and we need to assign new instance of PointcloudFigure to a new variable
pointcloud_figure_clone = figure.clone(parent_object=pointcloud_obj_car, frame_index=11)

print(pointcloud_figure_clone.to_json())
# Output: {
#     "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": "4beae1be12624b70ad533c8be7477605",
#     "objectKey": "c1e1965efc0d4ae9b0b39367b04d637a"
# }

get_meta()¶

Get metadata for the video figure.

Returns:

Dictionary with metadata for the video figure.

Return type:

Dict[str, int]

Usage Example:

import supervisely as sly

obj_class_car = sly.ObjClass('car', sly.Rectangle)
video_obj_car = sly.VideoObject(obj_class_car)
fr_index = 7
geometry = sly.Rectangle(0, 0, 100, 100)
video_figure_car = sly.VideoFigure(video_obj_car, geometry, fr_index)

print(video_figure_car.get_meta()) # {'frame': 7}

key()¶

Figure key.

Returns:

Figure key.

Return type:

UUID

Usage Example:

key = video_figure_car.key
print(key) # 158e6cf4f4ac4c639fc6994aad127c16

to_json(key_id_map=None, save_meta=False)¶

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

Parameters:

key_id_map=None¶

KeyIdMap object.

save_meta : bool, optional¶

Save frame index or not.

Returns:

Json format as a dict

Return type:

Dict

Usage Example:

import supervisely as sly

obj_class_car = sly.ObjClass('car', sly.Rectangle)
video_obj_car = sly.VideoObject(obj_class_car)
fr_index = 7
geometry = sly.Rectangle(0, 0, 100, 100)
video_figure_car = sly.VideoFigure(video_obj_car, geometry, fr_index)
video_figure_json = video_figure_car.to_json(save_meta=True)
print(video_figure_json)
# Output: {
#     "key": "591d0511ba28462c8cd657691743359c",
#     "objectKey": "e061bc50bd464c23a008b712d195570a",
#     "geometryType": "rectangle",
#     "geometry": {
#         "points": {
#             "exterior": [
#                 [
#                     0,
#                     0
#                 ],
#                 [
#                     100,
#                     100
#                 ]
#             ],
#             "interior": []
#         }
#     },
#     "meta": {"frame": 7},
#     "nnCreated": false,
#     "nnUpdated": false
# }

validate_bounds(img_size, _auto_correct=False)[source]¶

Not supported for pointcloud.

property frame_index : int¶

Frame index of the current VideoFigure.

Returns:

Index of Frame to which VideoFigure belongs

Return type:

int

Usage Example:

fr_index = video_figure_car.frame_index
print(fr_index) # 7

property geometry : supervisely.geometry.geometry.Geometry¶

Geometry of the current VideoFigure.

Returns:

Geometry object

Return type:

Geometry

Usage Example:

geometry = video_figure_car.geometry
print(geometry.to_json())
# Output: {
#     "points": {
#         "exterior": [
#             [
#                 0,
#                 0
#             ],
#             [
#                 100,
#                 100
#             ]
#         ],
#         "interior": []
#     }
# }

property parent_object : supervisely.pointcloud_annotation.pointcloud_object.PointcloudObject | supervisely.pointcloud_annotation.pointcloud_episode_object.PointcloudEpisodeObject¶

PointcloudObject of current PointcloudFigure.

Returns:

Pointcloud object or pointcloud episode object.

Return type:

PointcloudObject or PointcloudEpisodeObject

Usage Example:

pointcloud_obj_car = pointcloud_figure_car.parent_object

print(pointcloud_obj_car.to_json())
# Output: {
#     "key": "d573c6f081544e3da20022d932b259c1",
#     "classTitle": "car",
#     "tags": []
# }

property priority¶

Priority of the figure (position of the figure relative to other overlapping or underlying figures).

property smart_tool_input¶

Smart Tool parameters that were used for labeling.

Example:

{

‘crop’: [[85.69912274538524, 323.07711452375236], [1108.5635719011857, 1543.1199742240174]], ‘visible’: True, ‘negative’: [], ‘positive’: [[597, 933], [474.5072466934964, 1381.6437133813354]]

}

property status : supervisely.annotation.label.LabelingStatus¶

Labeling status. Specifies if the VideoFigure was created by NN model, manually or created by NN and then manually corrected.

property video_object : None¶

Not supported for pointcloud.