supervisely 6.73.276__py3-none-any.whl → 6.73.277__py3-none-any.whl

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/convert/base_converter.py

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

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/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-6.73.276.dist-info → supervisely-6.73.277.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: supervisely
-Version: 6.73.276
+Version: 6.73.277
 Summary: Supervisely Python SDK.
 Home-page: https://github.com/supervisely/supervisely
 Author: Supervisely

{supervisely-6.73.276.dist-info → supervisely-6.73.277.dist-info}/RECORD

@@ -560,8 +560,8 @@ supervisely/cli/teamfiles/teamfiles_upload.py,sha256=xnsW2rvdq1e-KGjF1tMBu7Oxh3n
 supervisely/collection/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 supervisely/collection/key_indexed_collection.py,sha256=x2UVlkprspWhhae9oLUzjTWBoIouiWY9UQSS_MozfH0,37643
 supervisely/collection/str_enum.py,sha256=Zp29yFGvnxC6oJRYNNlXhO2lTSdsriU1wiGHj6ahEJE,1250
-supervisely/convert/__init__.py,sha256=qomoncLRQeOzJkMceC6okFbyYcVQIXdvH_VG0-yKMqo,2955
-supervisely/convert/base_converter.py,sha256=F2fD1zq3agV1H_T59V4nduI_0V4uVe9bjfPeu85L_8c,18004
+supervisely/convert/__init__.py,sha256=742-oqcs_n0YSOQMXPxZoLaZu_72jrMBompsIsUWekI,3043
+supervisely/convert/base_converter.py,sha256=6kQETAOHHRiBXGWCeVVr8Z2dbLYdPHM1to_P3lGvGRY,18028
 supervisely/convert/converter.py,sha256=tWxTDfFv7hwzQhUQrBxzfr6WP8FUGFX_ewg5T2HbUYo,8959
 supervisely/convert/image/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 supervisely/convert/image/image_converter.py,sha256=r-qdhuwOsk727mXIM26ucQhkoIKigu1M0BF-tw9IfGg,10321
@@ -613,6 +613,9 @@ supervisely/convert/pointcloud/pointcloud_converter.py,sha256=yCCpzm7GrvL6WT4lNe
 supervisely/convert/pointcloud/bag/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 supervisely/convert/pointcloud/bag/bag_converter.py,sha256=WWd6A2hS7H4MRgtLdJ-yYgmNU-Wk2eycl6LTTJM2GKQ,11391
 supervisely/convert/pointcloud/bag/bag_helper.py,sha256=2TFe49isZTxMhya-PApqLPxrvGnvRFMBc_--BwyCpWU,4284
+supervisely/convert/pointcloud/kitti_3d/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+supervisely/convert/pointcloud/kitti_3d/kitti_3d_converter.py,sha256=Ipyf1k--0v0Aji7lEbUzseB3E_DqdicuR-eg3ZBkVFk,5462
+supervisely/convert/pointcloud/kitti_3d/kitti_3d_helper.py,sha256=xrAOD_O7NQu5_rhFF5pE2uwGdZlMh6XXGgtM2rpyd9A,3946
 supervisely/convert/pointcloud/las/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 supervisely/convert/pointcloud/las/las_converter.py,sha256=prbvApwrjQ2cuDD9nAFBDkTLxtsN4jdjCZdNnkNow-g,1722
 supervisely/convert/pointcloud/las/las_helper.py,sha256=1gQ3OZLpe6D25CY_jXWDsrLBiS7nWfCgl3Zq--9TU14,1296
@@ -1067,9 +1070,9 @@ supervisely/worker_proto/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZ
 supervisely/worker_proto/worker_api_pb2.py,sha256=VQfi5JRBHs2pFCK1snec3JECgGnua3Xjqw_-b3aFxuM,59142
 supervisely/worker_proto/worker_api_pb2_grpc.py,sha256=3BwQXOaP9qpdi0Dt9EKG--Lm8KGN0C5AgmUfRv77_Jk,28940
 supervisely_lib/__init__.py,sha256=7-3QnN8Zf0wj8NCr2oJmqoQWMKKPKTECvjH9pd2S5vY,159
-supervisely-6.73.276.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-supervisely-6.73.276.dist-info/METADATA,sha256=IEQlHjL5OYrRUVXISxSa5jZEaxfStqtTGbn40HHu810,33573
-supervisely-6.73.276.dist-info/WHEEL,sha256=P9jw-gEje8ByB7_hXoICnHtVCrEwMQh-630tKvQWehc,91
-supervisely-6.73.276.dist-info/entry_points.txt,sha256=U96-5Hxrp2ApRjnCoUiUhWMqijqh8zLR03sEhWtAcms,102
-supervisely-6.73.276.dist-info/top_level.txt,sha256=kcFVwb7SXtfqZifrZaSE3owHExX4gcNYe7Q2uoby084,28
-supervisely-6.73.276.dist-info/RECORD,,
+supervisely-6.73.277.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+supervisely-6.73.277.dist-info/METADATA,sha256=46bfRNq5HF8g4IKBZISbg8yin73sQVYm-XM6H9pnGSA,33573
+supervisely-6.73.277.dist-info/WHEEL,sha256=P9jw-gEje8ByB7_hXoICnHtVCrEwMQh-630tKvQWehc,91
+supervisely-6.73.277.dist-info/entry_points.txt,sha256=U96-5Hxrp2ApRjnCoUiUhWMqijqh8zLR03sEhWtAcms,102
+supervisely-6.73.277.dist-info/top_level.txt,sha256=kcFVwb7SXtfqZifrZaSE3owHExX4gcNYe7Q2uoby084,28
+supervisely-6.73.277.dist-info/RECORD,,