Source code for supervisely.pointcloud_annotation.pointcloud_figure
# coding: utf-8
from __future__ import annotations
from typing import Dict, Optional, Union
from uuid import UUID
from supervisely._utils import take_with_default
from supervisely.geometry.geometry import Geometry
from supervisely.pointcloud_annotation.pointcloud_episode_object import (
PointcloudEpisodeObject,
)
from supervisely.pointcloud_annotation.pointcloud_episode_object_collection import (
PointcloudEpisodeObjectCollection,
)
from supervisely.pointcloud_annotation.pointcloud_object import PointcloudObject
from supervisely.pointcloud_annotation.pointcloud_object_collection import (
PointcloudObjectCollection,
)
from supervisely.video_annotation.key_id_map import KeyIdMap
from supervisely.video_annotation.video_figure import VideoFigure
[docs]
class PointcloudFigure(VideoFigure):
"""Figure in point cloud annotation: 3D geometry (e.g. Cuboid3d) at a frame. Immutable."""
def __init__(
self,
parent_object: Union[PointcloudObject, PointcloudEpisodeObject],
geometry: Geometry,
frame_index: Optional[int] = None,
key: Optional[UUID] = None,
class_id: Optional[int] = None,
labeler_login: Optional[str] = None,
updated_at: Optional[str] = None,
created_at: Optional[str] = None,
**kwargs,
):
"""
Figure in point cloud annotation.
:param parent_object: PointcloudObject or PointcloudEpisodeObject.
:type parent_object: Union[:class:`~supervisely.pointcloud_annotation.pointcloud_object.PointcloudObject`, :class:`~supervisely.pointcloud_annotation.pointcloud_episode_object.PointcloudEpisodeObject`]
:param geometry: 3D geometry (Cuboid3d or Pointcloud).
:type geometry: :class:`~supervisely.geometry.geometry.Geometry`
:param frame_index: Frame index. Optional for single-frame point clouds.
:type frame_index: int, optional
:param key: UUID key. Auto-generated if not provided.
:type key: uuid.UUID, optional
:param class_id: Server-side class ID.
:type class_id: int, optional
:param labeler_login: Login of user who created the figure.
:type labeler_login: str, optional
:param updated_at: Last modification timestamp (ISO format).
:type updated_at: str, optional
:param created_at: Creation timestamp (ISO format).
:type created_at: str, optional
:Usage Example:
.. code-block:: python
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())
"""
super().__init__(
parent_object,
geometry,
frame_index,
key=key,
class_id=class_id,
labeler_login=labeler_login,
updated_at=updated_at,
created_at=created_at,
)
# @TODO: validate geometry - allowed: only cuboid_3d + point_cloud
@property
def parent_object(self) -> Union[PointcloudObject, PointcloudEpisodeObject]:
"""
PointcloudObject of current PointcloudFigure.
:returns: Pointcloud object or pointcloud episode object.
:rtype: :class:`~supervisely.pointcloud_annotation.pointcloud_object.PointcloudObject` or :class:`~supervisely.pointcloud_annotation.pointcloud_episode_object.PointcloudEpisodeObject`
:Usage Example:
.. code-block:: python
pointcloud_obj_car = pointcloud_figure_car.parent_object
print(pointcloud_obj_car.to_json())
# Output: {
# "key": "d573c6f081544e3da20022d932b259c1",
# "classTitle": "car",
# "tags": []
# }
"""
return super().parent_object
@property
def video_object(self) -> None:
"""Not supported for pointcloud."""
raise NotImplementedError("If you faced this error, please write to technical support.")
[docs]
def validate_bounds(self, img_size, _auto_correct=False):
"""Not supported for pointcloud."""
raise NotImplementedError()
[docs]
@classmethod
def from_json(
cls,
data: Dict,
objects: Union[PointcloudObjectCollection, PointcloudEpisodeObjectCollection],
frame_index: Optional[int] = None,
key_id_map: Optional[KeyIdMap] = None,
) -> PointcloudFigure:
"""
Convert a json dict to PointcloudFigure. Read more about `Supervisely format <https://docs.supervisely.com/data-organization/00_ann_format_navi>`_.
:param data: Dict in json format.
:type data: dict
:param objects: Pointcloud object collection or pointcloud episode object collection.
:type objects: :class:`~supervisely.pointcloud_annotation.pointcloud_object_collection.PointcloudObjectCollection` or :class:`~supervisely.pointcloud_annotation.pointcloud_episode_object_collection.PointcloudEpisodeObjectCollection`
:param frame_index: Index of Frame to which PointcloudFigure belongs.
:type frame_index: int
:param key_id_map: Key ID map.
:type key_id_map: :class:`~supervisely.video_annotation.key_id_map.KeyIdMap`
: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.
:rtype: :class:`~supervisely.pointcloud_annotation.pointcloud_figure.PointcloudFigure`
:Usage Example:
.. code-block:: python
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
)
"""
return super().from_json(data, objects, frame_index, key_id_map)
[docs]
def clone(
self,
parent_object: Optional[Union[PointcloudObject, PointcloudEpisodeObject]] = None,
geometry: Optional[Geometry] = None,
frame_index: Optional[int] = None,
key: Optional[UUID] = None,
class_id: Optional[int] = None,
labeler_login: Optional[str] = None,
updated_at: Optional[str] = None,
created_at: Optional[str] = None,
) -> PointcloudFigure:
"""
Makes a copy of PointcloudFigure with new fields, if fields are given, otherwise it will use fields of the original PointcloudFigure.
:param parent_object: Pointcloud object or pointcloud episode object.
:type parent_object: :class:`~supervisely.pointcloud_annotation.pointcloud_object.PointcloudObject` or :class:`~supervisely.pointcloud_annotation.pointcloud_episode_object.PointcloudEpisodeObject`, optional
:param geometry: Label :class:`~supervisely.geometry.geometry.Geometry`.
:type geometry: :class:`~supervisely.geometry.geometry.Geometry`, optional
:param frame_index: Index of Frame to which PointcloudFigure belongs.
:type frame_index: int, optional
:param key: UUID key associated with the figure.
:type key: uuid.UUID
:param class_id: ID of pointcloud object (or pointcloud episode object) to which PointcloudFigure belongs.
:type class_id: int, optional
:param labeler_login: Login of the user who created :class:`~supervisely.pointcloud_annotation.pointcloud_figure.PointcloudFigure`.
:type labeler_login: str, optional
:param updated_at: Date and Time when PointcloudFigure was modified last. Date Format: Year:Month:Day:Hour:Minute:Seconds. Example: '2021-01-22T19:37:50.158Z'.
:type updated_at: str, optional
:param created_at: Date and Time when PointcloudFigure was created. Date Format is the same as in "updated_at" parameter.
:type created_at: str, optional
:returns: Pointcloud figure object.
:rtype: :class:`~supervisely.pointcloud_annotation.pointcloud_figure.PointcloudFigure`
:Usage Example:
.. code-block:: python
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"
# }
"""
return self.__class__(
parent_object=take_with_default(parent_object, self.parent_object),
geometry=take_with_default(geometry, self.geometry),
frame_index=take_with_default(frame_index, self.frame_index),
key=take_with_default(key, self._key),
class_id=take_with_default(class_id, self.class_id),
labeler_login=take_with_default(labeler_login, self.labeler_login),
updated_at=take_with_default(updated_at, self.updated_at),
created_at=take_with_default(created_at, self.created_at),
)