Source code for supervisely.pointcloud_annotation.pointcloud_object

# coding: utf-8

# docs
import uuid
from typing import Optional

from supervisely.video_annotation.video_object import VideoObject
from supervisely.annotation.label import LabelJsonFields
from supervisely.project.project_meta import ProjectMeta
from supervisely.video_annotation.constants import KEY, ID
from supervisely.pointcloud_annotation.pointcloud_tag_collection import PointcloudTagCollection
from supervisely.video_annotation.key_id_map import KeyIdMap
from supervisely.geometry.constants import LABELER_LOGIN, UPDATED_AT, CREATED_AT, CLASS_ID



[docs]
class PointcloudObject(VideoObject):
    """Object in point cloud annotation (obj_class + tags). Uses VideoObject constructor. Immutable."""

    tag_collection_type = PointcloudTagCollection


[docs]
    @classmethod
    def from_json(cls, data, project_meta: ProjectMeta, key_id_map: Optional[KeyIdMap] = None):
        """
        Convert PointcloudObject from json format to PointcloudObject class object. Raise error if object class name is not found in the given project meta.

        :param data: PointcloudObject in json format.
        :type data: dict
        :param project_meta: Project metadata.
        :type project_meta: :class:`~supervisely.project.project_meta.ProjectMeta`
        :param key_id_map: Key ID map.
        :type key_id_map: :class:`~supervisely.video_annotation.key_id_map.KeyIdMap`
        :returns: Pointcloud object.
        :rtype: :class:`~supervisely.pointcloud_annotation.pointcloud_object.PointcloudObject`

        :Usage Example:

            .. code-block:: python

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

                key_id_map = KeyIdMap()
                project_id = 19441
                obj_class_car = sly.ObjClass('car', Cuboid3d)
                project_meta = sly.ProjectMeta([obj_class_car])
                api.project.update_meta(id=project_id, meta=project_meta)
                pointcloud_obj_car = sly.PointcloudObject(obj_class_car)
                pointcloud_obj_car_json = pointcloud_obj_car.to_json()
                new_pointcloud_obj_car = sly.PointcloudObject.from_json(
                    data=pointcloud_obj_car_json,
                    project_meta=project_meta,
                    key_id_map=key_id_map
                )
                print(new_pointcloud_obj_car)
                # <supervisely.pointcloud_annotation.pointcloud_object.PointcloudObject object at 0x7f97e0ba8ed0>
        """

        obj_class_name = data[LabelJsonFields.OBJ_CLASS_NAME]
        obj_class = project_meta.get_obj_class(obj_class_name)
        if obj_class is None:
            raise RuntimeError(
                f"Failed to deserialize a object from JSON: class name {obj_class_name!r} "
                f"was not found in the given project meta."
            )

        object_id = data.get(ID, None)

        existing_key = None
        if object_id is not None and key_id_map is not None:
            existing_key = key_id_map.get_object_key(object_id)
        json_key = uuid.UUID(data[KEY]) if KEY in data else None
        if (existing_key is not None) and (json_key is not None) and (existing_key != json_key):
            raise RuntimeError(
                "Object id = {!r}: existing_key {!r} != json_key {!r}".format(
                    object_id, existing_key, json_key
                )
            )

        if existing_key is not None:
            key = existing_key
        elif json_key is not None:
            key = json_key
        else:
            key = uuid.uuid4()

        if key_id_map is not None and existing_key is None:
            key_id_map.add_object(key, object_id)

        class_id = data.get(CLASS_ID, None)
        labeler_login = data.get(LABELER_LOGIN, None)
        updated_at = data.get(UPDATED_AT, None)
        created_at = data.get(CREATED_AT, None)

        return cls(
            obj_class=obj_class,
            key=key,
            tags=cls.tag_collection_type.from_json(
                data[LabelJsonFields.TAGS], project_meta.tag_metas
            ),
            class_id=class_id,
            labeler_login=labeler_login,
            updated_at=updated_at,
            created_at=created_at,
        )