supervisely 6.73.275__tar.gz → 6.73.277__tar.gz

{supervisely-6.73.275/supervisely.egg-info → supervisely-6.73.277}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: supervisely
-Version: 6.73.275
+Version: 6.73.277
 Summary: Supervisely Python SDK.
 Home-page: https://github.com/supervisely/supervisely
 Author: Supervisely

{supervisely-6.73.275 → supervisely-6.73.277}/supervisely/app/widgets/custom_models_selector/custom_models_selector.py

@@ -25,6 +25,7 @@ from supervisely.app.widgets import (
 )
 from supervisely.io.fs import get_file_name_with_ext
 from supervisely.nn.artifacts.artifacts import TrainInfo
+import supervisely.io.env as sly_env
 
 WEIGHTS_DIR = "weights"
 
@@ -69,18 +70,34 @@ class CustomModelsSelector(Widget):
             # col 1 task
             self._task_id = task_id
             self._task_path = train_info.artifacts_folder
-            task_info = self._api.task.get_info_by_id(task_id)
-            self._task_date_iso = task_info["startedAt"]
-            self._task_date = self._normalize_date()
-            self._task_link = self._create_task_link()
+            try:
+                self._task_info = self._api.task.get_info_by_id(task_id)
+            except:
+                self._task_info = None
+
+            if self._task_info is not None:
+                self._task_date_iso = self._task_info["startedAt"]
+                self._task_date = self._normalize_date()
+                self._task_link = self._create_task_link()
+            else:
+                self._task_date_iso = None
+                self._task_date = None
+                self._task_link = None
             self._config_path = train_info.config_path
 
             # col 2 project
             self._training_project_name = train_info.project_name
-            project_info = self._api.project.get_info_by_name(
-                task_info["workspaceId"], self._training_project_name
+
+            workspace_id = (
+                self._task_info["workspaceId"]
+                if self._task_info
+                else sly_env.workspace_id(raise_not_found=False)
+            )
+            self._training_project_info = (
+                self._api.project.get_info_by_name(workspace_id, self._training_project_name)
+                if workspace_id
+                else None
             )
-            self._training_project_info = project_info
 
             # col 3 checkpoints
             self._checkpoints = train_info.checkpoints
@@ -175,30 +192,36 @@ class CustomModelsSelector(Widget):
                 return ""
 
         def _create_task_widget(self) -> Flexbox:
-            task_widget = Container(
-                [
-                    Text(
-                        f"<i class='zmdi zmdi-folder' style='color: #7f858e'></i> <a href='{self._task_link}'>{self._task_id}</a>",
-                        "text",
-                    ),
-                    Text(
-                        f"<span class='field-description text-muted' style='color: #7f858e'>{self._task_date}</span>",
-                        "text",
-                        font_size=13,
-                    ),
-                ],
-                gap=0,
-            )
+            if self._task_info is not None:
+                task_widget = Container(
+                    [
+                        Text(
+                            f"<i class='zmdi zmdi-folder' style='color: #7f858e'></i> <a href='{self._task_link}'>{self._task_id}</a>",
+                            "text",
+                        ),
+                        Text(
+                            f"<span class='field-description text-muted' style='color: #7f858e'>{self._task_date}</span>",
+                            "text",
+                            font_size=13,
+                        ),
+                    ],
+                    gap=0,
+                )
+            else:
+                task_widget = Text(
+                    f"<span class='field-description text-muted' style='color: #7f858e'>Task was archived (ID: '{self._task_id}')</span>",
+                    "text",
+                )
             return task_widget
 
         def _create_training_project_widget(self) -> Union[ProjectThumbnail, Text]:
-            if self.training_project_info is not None:
+            if self._training_project_info is not None:
                 training_project_widget = ProjectThumbnail(
                     self._training_project_info, remove_margins=True
                 )
             else:
                 training_project_widget = Text(
-                    f"<span class='field-description text-muted' style='color: #7f858e'>Project was deleted</span>",
+                    f"<span class='field-description text-muted' style='color: #7f858e'>Project was archived</span>",
                     "text",
                     font_size=13,
                 )
@@ -209,15 +232,11 @@ class CustomModelsSelector(Widget):
             for checkpoint_info in self._checkpoints:
                 if isinstance(checkpoint_info, dict):
                     checkpoint_selector_items.append(
-                        Select.Item(
-                            value=checkpoint_info["path"], label=checkpoint_info["name"]
-                        )
+                        Select.Item(value=checkpoint_info["path"], label=checkpoint_info["name"])
                     )
                 elif isinstance(checkpoint_info, FileInfo):
                     checkpoint_selector_items.append(
-                        Select.Item(
-                            value=checkpoint_info.path, label=checkpoint_info.name
-                        )
+                        Select.Item(value=checkpoint_info.path, label=checkpoint_info.name)
                     )
 
             checkpoint_selector = Select(items=checkpoint_selector_items)
@@ -282,9 +301,7 @@ class CustomModelsSelector(Widget):
             )
 
             file_api = FileApi(self._api)
-            self._model_path_input = Input(
-                placeholder="Path to model file in Team Files"
-            )
+            self._model_path_input = Input(placeholder="Path to model file in Team Files")
 
             @self._model_path_input.value_changed
             def change_folder(value):
@@ -322,9 +339,7 @@ class CustomModelsSelector(Widget):
 
             self.custom_tab_widgets.hide()
 
-            self.show_custom_checkpoint_path_checkbox = Checkbox(
-                "Use custom checkpoint", False
-            )
+            self.show_custom_checkpoint_path_checkbox = Checkbox("Use custom checkpoint", False)
 
             @self.show_custom_checkpoint_path_checkbox.value_changed
             def show_custom_checkpoint_path_checkbox_changed(is_checked):
@@ -399,9 +414,7 @@ class CustomModelsSelector(Widget):
         self.disable_table()
         super().disable()
 
-    def _generate_table_rows(
-        self, train_infos: List[TrainInfo]
-    ) -> Dict[str, List[ModelRow]]:
+    def _generate_table_rows(self, train_infos: List[TrainInfo]) -> Dict[str, List[ModelRow]]:
         """Method to generate table rows from remote path to training app save directory"""
 
         def process_train_info(train_info):
@@ -414,7 +427,7 @@ class CustomModelsSelector(Widget):
                 )
                 return train_info.task_type, model_row
             except Exception as e:
-                logger.warn(f"Failed to process train info: {train_info}")
+                logger.warning(f"Failed to process train info: {train_info}. Error: {repr(e)}")
                 return None, None
 
         table_rows = defaultdict(list)
@@ -448,8 +461,7 @@ class CustomModelsSelector(Widget):
         if "pose estimation" in task_types:
             sorted_tt.append("pose estimation")
         other_tasks = sorted(
-            set(task_types)
-            - set(["object detection", "instance segmentation", "pose estimation"])
+            set(task_types) - set(["object detection", "instance segmentation", "pose estimation"])
         )
         sorted_tt.extend(other_tasks)
         return sorted_tt
@@ -536,9 +548,7 @@ class CustomModelsSelector(Widget):
 
     def set_custom_checkpoint_task_type(self, task_type: str) -> None:
         if self.use_custom_checkpoint_path():
-            available_task_types = (
-                self.custom_checkpoint_task_type_selector.get_labels()
-            )
+            available_task_types = self.custom_checkpoint_task_type_selector.get_labels()
             if task_type not in available_task_types:
                 raise ValueError(f'"{task_type}" is not available task type')
             self.custom_checkpoint_task_type_selector.set_value(task_type)

{supervisely-6.73.275 → supervisely-6.73.277}/supervisely/convert/__init__.py

@@ -39,6 +39,7 @@ from supervisely.convert.pointcloud.ply.ply_converter import PlyConverter
 from supervisely.convert.pointcloud.bag.bag_converter import BagConverter
 from supervisely.convert.pointcloud.lyft.lyft_converter import LyftConverter
 from supervisely.convert.pointcloud.nuscenes_conv.nuscenes_converter import NuscenesConverter
+from supervisely.convert.pointcloud.kitti_3d.kitti_3d_converter import KITTI3DConverter
 
 # Pointcloud Episodes
 from supervisely.convert.pointcloud_episodes.sly.sly_pointcloud_episodes_converter import (

{supervisely-6.73.275 → supervisely-6.73.277}/supervisely/convert/base_converter.py

@@ -56,6 +56,7 @@ class AvailablePointcloudConverters:
     BAG = "rosbag"
     LYFT = "lyft"
     NUSCENES = "nuscenes"
+    KITTI3D = "kitti3d"
 
 
 class AvailablePointcloudEpisodesConverters:

supervisely-6.73.277/supervisely/convert/pointcloud/kitti_3d/kitti_3d_converter.py

@@ -0,0 +1,139 @@
+import os
+from pathlib import Path
+
+from supervisely import PointcloudAnnotation, ProjectMeta, is_development, logger
+from supervisely.api.api import Api, ApiField
+from supervisely.convert.base_converter import AvailablePointcloudConverters
+from supervisely.convert.pointcloud.kitti_3d import kitti_3d_helper
+from supervisely.convert.pointcloud.pointcloud_converter import PointcloudConverter
+from supervisely.io.fs import (
+    dirs_filter,
+    file_exists,
+    get_file_ext,
+    get_file_name,
+    get_file_name_with_ext,
+    list_files,
+    silent_remove,
+)
+from supervisely.pointcloud_annotation.pointcloud_object_collection import (
+    PointcloudObjectCollection,
+)
+
+
+class KITTI3DConverter(PointcloudConverter):
+    def __str__(self) -> str:
+        return AvailablePointcloudConverters.KITTI3D
+
+    @property
+    def key_file_ext(self) -> str:
+        return ".bin"
+
+    def validate_format(self) -> bool:
+        def _file_filter_fn(file_path):
+            return get_file_ext(file_path).lower() == self.key_file_ext
+
+        def _dir_filter_fn(path):
+            return all([(Path(path) / name).exists() for name in kitti_3d_helper.FOLDER_NAMES])
+
+        input_paths = [d for d in dirs_filter(self._input_data, _dir_filter_fn)]
+        if len(input_paths) == 0:
+            return False
+
+        input_path = input_paths[0]
+        velodyne_dir = os.path.join(input_path, "velodyne")
+        image_2_dir = os.path.join(input_path, "image_2")
+        label_2_dir = os.path.join(input_path, "label_2")
+        calib_dir = os.path.join(input_path, "calib")
+
+        self._items = []
+        velodyne_files = list_files(velodyne_dir, filter_fn=_file_filter_fn)
+        if len(velodyne_files) == 0:
+            return False
+
+        kitti_labels = []
+        for velodyne_path in velodyne_files:
+            file_name = get_file_name(velodyne_path)
+            image_path = os.path.join(image_2_dir, f"{file_name}.png")
+            label_path = os.path.join(label_2_dir, f"{file_name}.txt")
+            calib_path = os.path.join(calib_dir, f"{file_name}.txt")
+            if not file_exists(image_path):
+                logger.debug(f"Skipping item: {velodyne_path}. Image not found.")
+                continue
+            if not file_exists(label_path):
+                logger.debug(f"Skipping item: {velodyne_path}. Label not found.")
+                continue
+            if not file_exists(calib_path):
+                logger.debug(f"Skipping item: {velodyne_path}. Calibration not found.")
+                continue
+
+            label = kitti_3d_helper.read_kitti_label(label_path, calib_path)
+            kitti_labels.append(label)
+            self._items.append(self.Item(velodyne_path, label, (image_path, calib_path)))
+
+        self._meta = kitti_3d_helper.convert_labels_to_meta(kitti_labels)
+        return self.items_count > 0
+
+    def to_supervisely(
+        self,
+        item: PointcloudConverter.Item,
+        meta: ProjectMeta,
+        renamed_classes: dict = {},
+        renamed_tags: dict = {},
+    ) -> PointcloudAnnotation:
+        label = item.ann_data
+        objs, figures = kitti_3d_helper.convert_label_to_annotation(label, meta, renamed_classes)
+        return PointcloudAnnotation(PointcloudObjectCollection(objs), figures)
+
+    def upload_dataset(self, api: Api, dataset_id: int, batch_size: int = 1, log_progress=True):
+        meta, renamed_classes, renamed_tags = self.merge_metas_with_conflicts(api, dataset_id)
+
+        if log_progress:
+            progress, progress_cb = self.get_progress(self.items_count, "Converting pointclouds...")
+        else:
+            progress_cb = None
+
+        for item in self._items:
+            # * Convert pointcloud from ".bin" to ".pcd"
+            pcd_path = str(Path(item.path).with_suffix(".pcd"))
+            if file_exists(pcd_path):
+                logger.warning(f"Overwriting file with path: {pcd_path}")
+            kitti_3d_helper.convert_bin_to_pcd(item.path, pcd_path)
+
+            # * Upload pointcloud
+            pcd_name = get_file_name_with_ext(pcd_path)
+            info = api.pointcloud.upload_path(dataset_id, pcd_name, pcd_path, {})
+            pcd_id = info.id
+
+            # * Convert annotation and upload
+            ann = self.to_supervisely(item, meta, renamed_classes, renamed_tags)
+            api.pointcloud.annotation.append(pcd_id, ann)
+
+            # * Upload related images
+            image_path, calib_path = item._related_images
+            rimage_info = kitti_3d_helper.convert_calib_to_image_meta(image_path, calib_path)
+
+            image_jsons = []
+            camera_names = []
+            img = api.pointcloud.upload_related_image(image_path)
+            image_jsons.append(
+                {
+                    ApiField.ENTITY_ID: pcd_id,
+                    ApiField.NAME: get_file_name_with_ext(rimage_info[ApiField.NAME]),
+                    ApiField.HASH: img,
+                    ApiField.META: rimage_info[ApiField.META],
+                }
+            )
+            camera_names.append(rimage_info[ApiField.META]["deviceId"])
+            if len(image_jsons) > 0:
+                api.pointcloud.add_related_images(image_jsons, camera_names)
+
+            # * Clean up
+            silent_remove(pcd_path)
+            if log_progress:
+                progress_cb(1)
+
+        logger.info(f"Dataset ID:{dataset_id} has been successfully uploaded.")
+
+        if log_progress:
+            if is_development():
+                progress.close()

supervisely-6.73.277/supervisely/convert/pointcloud/kitti_3d/kitti_3d_helper.py

@@ -0,0 +1,110 @@
+import numpy as np
+
+from supervisely import ObjClass, ObjClassCollection, ProjectMeta
+from supervisely.geometry.cuboid_3d import Cuboid3d
+from supervisely.geometry.point_3d import Vector3d
+from supervisely.pointcloud_annotation.pointcloud_figure import PointcloudFigure
+from supervisely.pointcloud_annotation.pointcloud_object import PointcloudObject
+
+FOLDER_NAMES = ["velodyne", "image_2", "label_2", "calib"]
+
+
+def read_kitti_label(label_path, calib_path):
+    import open3d as o3d  # pylint: disable=import-error
+
+    calib = o3d.ml.datasets.KITTI.read_calib(calib_path)
+    label = o3d.ml.datasets.KITTI.read_label(label_path, calib)
+    return label
+
+
+def convert_labels_to_meta(labels):
+    labels = flatten(labels)
+    unique_labels = np.unique([l.label_class for l in labels])
+    obj_classes = [ObjClass(k, Cuboid3d) for k in unique_labels]
+    meta = ProjectMeta(obj_classes=ObjClassCollection(obj_classes))
+    return meta
+
+
+def convert_bin_to_pcd(src, dst):
+    import open3d as o3d  # pylint: disable=import-error
+
+    try:
+        bin = np.fromfile(src, dtype=np.float32).reshape(-1, 4)
+    except ValueError as e:
+        raise Exception(
+            f"Incorrect data in the KITTI 3D pointcloud file: {src}. "
+            f"There was an error while trying to reshape the data into a 4-column matrix: {e}. "
+            "Please ensure that the binary file contains a multiple of 4 elements to be "
+            "successfully reshaped into a (N, 4) array.\n"
+        )
+    points = bin[:, 0:3]
+    intensity = bin[:, -1]
+    intensity_fake_rgb = np.zeros((intensity.shape[0], 3))
+    intensity_fake_rgb[:, 0] = intensity
+    pc = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(points))
+    pc.colors = o3d.utility.Vector3dVector(intensity_fake_rgb)
+    o3d.io.write_point_cloud(dst, pc)
+
+
+def flatten(list_2d):
+    return sum(list_2d, [])
+
+
+def _convert_label_to_geometry(label):
+    geometries = []
+    for l in label:
+        bbox = l.to_xyzwhlr()
+        dim = bbox[[3, 5, 4]]
+        pos = bbox[:3] + [0, 0, dim[1] / 2]
+        yaw = bbox[-1]
+        position = Vector3d(float(pos[0]), float(pos[1]), float(pos[2]))
+        rotation = Vector3d(0, 0, float(-yaw))
+
+        dimension = Vector3d(float(dim[0]), float(dim[2]), float(dim[1]))
+        geometry = Cuboid3d(position, rotation, dimension)
+        geometries.append(geometry)
+    return geometries
+
+
+def convert_label_to_annotation(label, meta, renamed_class_names: dict = None):
+    geometries = _convert_label_to_geometry(label)
+    figures = []
+    objs = []
+    for l, geometry in zip(label, geometries):  # by object in point cloud
+        class_name = renamed_class_names.get(l.label_class, l.label_class)
+        pcobj = PointcloudObject(meta.get_obj_class(class_name))
+        figures.append(PointcloudFigure(pcobj, geometry))
+        objs.append(pcobj)
+
+    return objs, figures
+
+
+def convert_calib_to_image_meta(image_name, calib_path, camera_num=2):
+    with open(calib_path, "r") as f:
+        lines = f.readlines()
+
+    assert 0 < camera_num < 4
+    intrinsic_matrix = lines[camera_num].strip().split(" ")[1:]
+    intrinsic_matrix = np.array(intrinsic_matrix, dtype=np.float32).reshape(3, 4)[:3, :3]
+
+    obj = lines[4].strip().split(" ")[1:]
+    rect_4x4 = np.eye(4, dtype=np.float32)
+    rect_4x4[:3, :3] = np.array(obj, dtype=np.float32).reshape(3, 3)
+
+    obj = lines[5].strip().split(" ")[1:]
+    Tr_velo_to_cam = np.eye(4, dtype=np.float32)
+    Tr_velo_to_cam[:3] = np.array(obj, dtype=np.float32).reshape(3, 4)
+    world_cam = np.transpose(rect_4x4 @ Tr_velo_to_cam)
+    extrinsic_matrix = world_cam[:4, :3].T
+
+    data = {
+        "name": image_name,
+        "meta": {
+            "deviceId": "CAM_LEFT",
+            "sensorsData": {
+                "extrinsicMatrix": list(extrinsic_matrix.flatten().astype(float)),
+                "intrinsicMatrix": list(intrinsic_matrix.flatten().astype(float)),
+            },
+        },
+    }
+    return data

{supervisely-6.73.275 → supervisely-6.73.277/supervisely.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: supervisely
-Version: 6.73.275
+Version: 6.73.277
 Summary: Supervisely Python SDK.
 Home-page: https://github.com/supervisely/supervisely
 Author: Supervisely

{supervisely-6.73.275 → supervisely-6.73.277}/supervisely.egg-info/SOURCES.txt

@@ -623,6 +623,9 @@ supervisely/convert/pointcloud/pointcloud_converter.py
 supervisely/convert/pointcloud/bag/__init__.py
 supervisely/convert/pointcloud/bag/bag_converter.py
 supervisely/convert/pointcloud/bag/bag_helper.py
+supervisely/convert/pointcloud/kitti_3d/__init__.py
+supervisely/convert/pointcloud/kitti_3d/kitti_3d_converter.py
+supervisely/convert/pointcloud/kitti_3d/kitti_3d_helper.py
 supervisely/convert/pointcloud/las/__init__.py
 supervisely/convert/pointcloud/las/las_converter.py
 supervisely/convert/pointcloud/las/las_helper.py