supervisely 6.73.438__py3-none-any.whl → 6.73.513__py3-none-any.whl

supervisely/geometry/oriented_bbox.py

@@ -0,0 +1,676 @@
+# coding: utf-8
+
+# docs
+from __future__ import annotations
+
+from copy import deepcopy
+from math import ceil, floor
+from typing import Dict, List, Optional, Tuple, Union
+
+import cv2
+import numpy as np
+
+from supervisely.geometry.constants import (
+    ANGLE,
+    CLASS_ID,
+    CREATED_AT,
+    ID,
+    LABELER_LOGIN,
+    POINTS,
+    UPDATED_AT,
+)
+from supervisely.geometry.geometry import Geometry
+from supervisely.geometry.point_location import PointLocation, points_to_row_col_list
+from supervisely.geometry.polygon import Polygon
+from supervisely.geometry.rectangle import Rectangle
+
+
+class OrientedBBox(Rectangle):
+    """
+    OrientedBBox geometry for a single :class:`Label<supervisely.annotation.label.Label>`. :class:`OrientedBBox<OrientedBBox>` class object is immutable.
+
+    :param top: Minimal vertical value of OrientedBBox object.
+    :type top: int or float
+    :param left: Minimal horizontal value of OrientedBBox object.
+    :type left: int or float
+    :param bottom: Maximal vertical value of OrientedBBox object.
+    :type bottom: int or float
+    :param right: Maximal vertical value of OrientedBBox object.
+    :type right: int or float
+    :param angle: Angle of rotation in radians. Positive values mean clockwise rotation.
+    :type angle: int or float, optional
+    :param sly_id: OrientedBBox ID in Supervisely server.
+    :type sly_id: int, optional
+    :param class_id: ID of :class:`ObjClass<supervisely.annotation.obj_class.ObjClass>` to which OrientedBBox belongs.
+    :type class_id: int, optional
+    :param labeler_login: Login of the user who created OrientedBBox.
+    :type labeler_login: str, optional
+    :param updated_at: Date and Time when OrientedBBox 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 OrientedBBox was created. Date Format is the same as in "updated_at" parameter.
+    :type created_at: str, optional
+    :raises: :class:`ValueError`. OrientedBBox top argument must have less or equal value then bottom, left argument must have less or equal value then right
+
+    :Usage example:
+
+     .. code-block:: python
+
+        import supervisely as sly
+
+        import math
+
+        top = 100
+        left = 100
+        bottom = 700
+        right = 900
+        angle = math.pi / 12  # 15 degrees in radians
+        figure = sly.OrientedBBox(top, left, bottom, right, angle=angle)
+    """
+
+    @staticmethod
+    def geometry_name():
+        """ """
+        return "oriented_bbox"
+
+    def __init__(
+        self,
+        top: int,
+        left: int,
+        bottom: int,
+        right: int,
+        angle: Union[int, float] = 0,
+        sly_id: Optional[int] = None,
+        class_id: Optional[int] = None,
+        labeler_login: Optional[str] = None,
+        updated_at: Optional[str] = None,
+        created_at: Optional[str] = None,
+    ):
+
+        super().__init__(
+            top=top,
+            left=left,
+            bottom=bottom,
+            right=right,
+            sly_id=sly_id,
+            class_id=class_id,
+            labeler_login=labeler_login,
+            updated_at=updated_at,
+            created_at=created_at,
+        )
+        self._angle = angle
+        if self._angle is None:
+            self._angle = 0
+
+    @property
+    def angle(self) -> Union[int, float]:
+        """
+        Angle of rotation in radians. Positive values mean clockwise rotation.
+
+        :return: Angle of rotation in radians
+        :rtype: int or float
+        :Usage example:
+
+         .. code-block:: python
+
+            angle = oriented_bbox.angle
+        """
+        return self._angle
+
+    def to_json(self) -> Dict:
+        """
+        Convert the OrientedBBox to a json dict. Read more about `Supervisely format <https://docs.supervisely.com/data-organization/00_ann_format_navi>`_.
+
+        :return: Json format as a dict
+        :rtype: :class:`dict`
+        :Usage example:
+
+         .. code-block:: python
+
+            figure_json = figure.to_json()
+            print(figure_json)
+            # Output: {
+            #    "points": [
+            #        [100, 100],
+            #        [900, 700]
+            #    ],
+            #    "angle": 0.2618  # radians (15 degrees)
+            # }
+        """
+        packed_obj = {
+            POINTS: points_to_row_col_list(self._points, flip_row_col_order=True),
+            ANGLE: self._angle,
+        }
+        self._add_creation_info(packed_obj)
+        return packed_obj
+
+    @classmethod
+    def from_json(cls, data: Dict) -> OrientedBBox:
+        """
+        Convert a json dict to OrientedBBox. Read more about `Supervisely format <https://docs.supervisely.com/data-organization/00_ann_format_navi>`_.
+
+        :param data: OrientedBBox in json format as a dict.
+        :type data: dict
+        :return: OrientedBBox object
+        :rtype: :class:`OrientedBBox<OrientedBBox>`
+        :Usage example:
+
+         .. code-block:: python
+
+            import supervisely as sly
+
+            import math
+
+            figure_json = {
+                "points": [
+                    [100, 100],
+                    [900, 700]
+                ],
+                "angle": math.pi / 12  # 15 degrees in radians
+            }
+            figure = sly.OrientedBBox.from_json(figure_json)
+        """
+        if POINTS not in data:
+            raise ValueError("Input data must contain {} field.".format(POINTS))
+        if ANGLE not in data:
+            raise ValueError("Input data must contain {} field.".format(ANGLE))
+        labeler_login = data.get(LABELER_LOGIN, None)
+        updated_at = data.get(UPDATED_AT, None)
+        created_at = data.get(CREATED_AT, None)
+        sly_id = data.get(ID, None)
+        class_id = data.get(CLASS_ID, None)
+        angle = data.get(ANGLE, 0)
+
+        exterior = data[POINTS]
+        if len(exterior) != 2:
+            raise ValueError(
+                '"exterior" field must contain exactly two points to create OrientedBBox object.'
+            )
+        [top, bottom] = sorted([exterior[0][1], exterior[1][1]])
+        [left, right] = sorted([exterior[0][0], exterior[1][0]])
+
+        return cls(
+            top=top,
+            left=left,
+            bottom=bottom,
+            right=right,
+            angle=angle,
+            sly_id=sly_id,
+            class_id=class_id,
+            labeler_login=labeler_login,
+            updated_at=updated_at,
+            created_at=created_at,
+        )
+
+    def to_bbox(self) -> Rectangle:
+        """
+        Convert the OrientedBBox to the axis-aligned :class:`Rectangle<supervisely.geometry.rectangle.Rectangle>` that fully contains the OrientedBBox.
+
+        :return: Axis-aligned Rectangle object
+        :rtype: :class:`Rectangle<supervisely.geometry.rectangle.Rectangle>`
+        :Usage example:
+            .. code-block:: python
+    
+                axis_aligned_bbox = oriented_bbox.to_bbox()
+            """
+        two_pi = 2 * np.pi
+        if self._angle % two_pi == 0:
+            return Rectangle(
+                top=self.top,
+                left=self.left,
+                bottom=self.bottom,
+                right=self.right,
+                sly_id=self.sly_id,
+                class_id=self.class_id,
+                labeler_login=self.labeler_login,
+                updated_at=self.updated_at,
+                created_at=self.created_at,
+            )
+
+        cos_angle = abs(np.cos(self._angle))
+        sin_angle = abs(np.sin(self._angle))
+
+        new_w = self.width * cos_angle + self.height * sin_angle
+        new_h = self.width * sin_angle + self.height * cos_angle
+
+        new_left = self.center.col - new_w / 2.0
+        new_right = self.center.col + new_w / 2.0
+        new_top = self.center.row - new_h / 2.0
+        new_bottom = self.center.row + new_h / 2.0
+
+        return Rectangle(
+            top=new_top,
+            left=new_left,
+            bottom=new_bottom,
+            right=new_right,
+            sly_id=self.sly_id,
+            class_id=self.class_id,
+            labeler_login=self.labeler_login,
+            updated_at=self.updated_at,
+            created_at=self.created_at,
+        )
+
+    def _transform(self, transform_fn):
+        """ """
+        transformed_corners = [transform_fn(p) for p in self.corners]
+        rows, cols = zip(*points_to_row_col_list(transformed_corners))
+        return OrientedBBox(
+            top=round(min(rows)),
+            left=round(min(cols)),
+            bottom=round(max(rows)),
+            right=round(max(cols)),
+            angle=self._angle,
+        )
+
+    def contains_point_location(self, point: PointLocation) -> bool:
+        """
+        Check if the OrientedBBox contains the given point.
+
+        :param point: PointLocation object
+        :type point: :class:`PointLocation<supervisely.geometry.point_location.PointLocation>`
+        :return: True if the point is inside the OrientedBBox, False otherwise
+        :rtype: bool
+        :Usage example:
+
+         .. code-block:: python
+
+            point = sly.PointLocation(150, 200)
+            is_inside = oriented_bbox.contains_point_location(point)
+        """
+        # Rotate point in the opposite direction around the center of the oriented bbox
+        cos_angle = np.cos(-self._angle)
+        sin_angle = np.sin(-self._angle)
+
+        # Translate point to origin
+        translated_x = point.col - self.center.col
+        translated_y = point.row - self.center.row
+
+        # Rotate point
+        rotated_x = translated_x * cos_angle - translated_y * sin_angle
+        rotated_y = translated_x * sin_angle + translated_y * cos_angle
+
+        # Translate point back
+        final_x = rotated_x + self.center.col
+        final_y = rotated_y + self.center.row
+
+        # Check if the rotated point is within the axis-aligned bbox
+        return self.left <= final_x <= self.right and self.top <= final_y <= self.bottom
+
+    def contains_point(self, geometry: Geometry) -> bool:
+        """
+        Check if the OrientedBBox contains the given point.
+
+        :param geometry: PointLocation object
+        :type geometry: :class:`Geometry<supervisely.geometry.geometry.Geometry>`
+        :return: True if the point is inside the OrientedBBox, False otherwise
+        :rtype: bool
+        :Usage example:
+
+         .. code-block:: python
+
+            point = sly.PointLocation(150, 200)
+            is_inside = oriented_bbox.contains_point(point)
+        """
+        if isinstance(geometry, PointLocation):
+            return self.contains_point_location(geometry)
+        elif isinstance(geometry, Rectangle):
+            return self.contains_rectangle(geometry)
+        elif isinstance(geometry, OrientedBBox):
+            return self.contains_obb(geometry)
+        else:
+            raise TypeError(
+                "Unsupported geometry type for contains_point method. "
+                "Supported types are PointLocation, Rectangle, and OrientedBBox."
+            )
+
+    def contains_obb(self, obb: OrientedBBox) -> bool:
+        """
+        Check if the OrientedBBox contains the given OrientedBBox.
+
+        :param obb: OrientedBBox object
+        :type obb: :class:`OrientedBBox<supervisely.geometry.oriented_bbox.OrientedBBox>`
+        :return: True if the OrientedBBox is inside the OrientedBBox, False otherwise
+        :rtype: bool
+        :Usage example:
+
+         .. code-block:: python
+
+            obb2 = sly.OrientedBBox(150, 200, 400, 500, angle=10)
+            is_inside = obb1.contains_obb(obb2)
+        """
+        # Get the corners of the obb
+        corners = obb.calculate_rotated_corners()
+
+        # Check if all corners are inside the current obb
+        for corner in corners:
+            if not self.contains_point_location(corner):
+                return False
+        return True
+
+    @staticmethod
+    def _calculate_rotated_corners(obb: OrientedBBox) -> List[PointLocation]:
+        """
+        Get the corners of the OrientedBBox.
+
+        :return: List of corners as (x, y) tuples
+        :rtype: List[Tuple[float, float]]
+        :Usage example:
+
+         .. code-block:: python
+
+            corners = oriented_bbox.calculate_rotated_corners()
+        """
+        cos_angle = np.cos(obb._angle)
+        sin_angle = np.sin(obb._angle)
+
+        rotated_corners = []
+        for corner in obb.corners:  # [Top-left, Top-right, Bottom-right, Bottom-left]
+            # First translate to origin (subtract center)
+            translated_x = corner.col - obb.center.col
+            translated_y = corner.row - obb.center.row
+
+            # Then rotate
+            rotated_x = translated_x * cos_angle - translated_y * sin_angle
+            rotated_y = translated_x * sin_angle + translated_y * cos_angle
+
+            # Then translate back (add center)
+            final_x = rotated_x + obb.center.col
+            final_y = rotated_y + obb.center.row
+
+            rotated_corners.append(PointLocation(row=final_y, col=final_x))
+
+        return rotated_corners
+
+    def calculate_rotated_corners(self) -> List[PointLocation]:
+        """
+        Get the corners of the OrientedBBox.
+
+        :return: List of corners as PointLocation objects
+        :rtype: List[:class:`PointLocation<supervisely.geometry.point_location.PointLocation>`]
+        :Usage example:
+
+         .. code-block:: python
+
+            corners = oriented_bbox.calculate_rotated_corners()
+        """
+        return self._calculate_rotated_corners(self)
+
+    def contains_rectangle(self, rectangle: Rectangle) -> bool:
+        """
+        Check if the OrientedBBox contains the given Rectangle.
+
+        :param rectangle: Rectangle object
+        :type rectangle: :class:`Rectangle<supervisely.geometry.rectangle.Rectangle>`
+        :return: True if the Rectangle is inside the OrientedBBox, False otherwise
+        :rtype: bool
+        :Usage example:
+
+         .. code-block:: python
+
+            rectangle = sly.Rectangle(150, 200, 400, 500)
+            is_inside = obb.contains_rectangle(rectangle)
+        """
+        # Get the corners of the rectangle
+        corners = rectangle.corners  # [Top-left, Top-right, Bottom-right, Bottom-left]
+
+        # Check if all corners are inside the current obb
+        for corner in corners:
+            if not self.contains_point_location(corner):
+                return False
+        return True
+
+    @classmethod
+    def from_bbox(cls, bbox: Rectangle) -> OrientedBBox:
+        """
+        Create OrientedBBox from given Rectangle.
+
+        :param bbox: Rectangle object.
+        :type bbox: :class:`Rectangle<supervisely.geometry.rectangle.Rectangle>`
+        :return: OrientedBBox object
+        :rtype: :class:`OrientedBBox<OrientedBBox>`
+
+        :Usage Example:
+
+         .. code-block:: python
+
+            import supervisely as sly
+
+            axis_aligned_bbox = sly.Rectangle(100, 100, 700, 900)
+            figure_from_bbox = sly.OrientedBBox.from_bbox(axis_aligned_bbox)
+        """
+        return cls(
+            top=bbox.top,
+            left=bbox.left,
+            bottom=bbox.bottom,
+            right=bbox.right,
+            angle=0,
+        )
+
+    @classmethod
+    def from_array(cls, arr: np.ndarray, angle: Union[int, float] = 0) -> OrientedBBox:
+        """
+        Create OrientedBBox with given array shape.
+
+        :param arr: Numpy array.
+        :type arr: np.ndarray
+        :return: OrientedBBox object
+        :rtype: :class:`OrientedBBox<OrientedBBox>`
+
+        :Usage Example:
+
+         .. code-block:: python
+
+            import supervisely as sly
+
+            np_array = np.zeros((300, 400))
+            figure_from_np = sly.OrientedBBox.from_array(np_array, angle=15)
+        """
+        return cls(top=0, left=0, bottom=arr.shape[0] - 1, right=arr.shape[1] - 1, angle=angle)
+
+    def get_cropped_numpy_slice(self, data: np.ndarray) -> np.ndarray:
+        """
+        Slice of given numpy array with OrientedBBox align bbox.
+
+        :param data: Numpy array.
+        :type data: np.ndarray
+        :return: Sliced numpy array
+        :rtype: :class:`np.ndarray<np.ndarray>`
+
+        :Usage Example:
+
+         .. code-block:: python
+
+            np_slice = np.zeros((200, 500))
+            mask_slice = figure.get_cropped_numpy_slice(np_slice)
+            print(mask_slice.shape)
+        """
+        axis_aligned_bbox = self.to_bbox()
+        top = max(0, floor(axis_aligned_bbox.top))
+        left = max(0, floor(axis_aligned_bbox.left))
+        bottom = min(data.shape[0], ceil(axis_aligned_bbox.bottom))
+        right = min(data.shape[1], ceil(axis_aligned_bbox.right))
+        return data[top:bottom, left:right]
+
+    @classmethod
+    def allowed_transforms(cls):
+        """ """
+        from supervisely.geometry.alpha_mask import AlphaMask
+        from supervisely.geometry.any_geometry import AnyGeometry
+        from supervisely.geometry.bitmap import Bitmap
+
+        return [AlphaMask, AnyGeometry, Bitmap, Polygon, OrientedBBox]
+
+    def crop(self, clip: OrientedBBox | Rectangle) -> List[OrientedBBox]:
+        """Crop the OrientedBBox by another OrientedBBox using the Sutherland-Hodgman algorithm."""
+        subject_corners = self._calculate_rotated_corners(self)
+        if isinstance(clip, Rectangle):
+            if all([clip.contains_point_location(corner) for corner in subject_corners]):
+                return [self]
+            clip_corners = clip.corners
+        else:
+            if clip.contains_obb(self):
+                return [self]
+            clip_corners = self._calculate_rotated_corners(clip)
+
+        def inside(p: PointLocation, edge_start: PointLocation, edge_end: PointLocation) -> bool:
+            cx1, cy1 = edge_start.col, edge_start.row
+            cx2, cy2 = edge_end.col, edge_end.row
+            px, py = p.col, p.row
+            return (cx2 - cx1) * (py - cy1) > (cy2 - cy1) * (px - cx1)
+
+        def compute_intersection(
+            p1: PointLocation,
+            p2: PointLocation,
+            edge_start: PointLocation,
+            edge_end: PointLocation,
+        ) -> Optional[PointLocation]:
+            x1, y1 = p1.col, p1.row
+            x2, y2 = p2.col, p2.row
+            x3, y3 = edge_start.col, edge_start.row
+            x4, y4 = edge_end.col, edge_end.row
+            denom = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4)
+            if abs(denom) < 1e-10: return None
+            t = ((x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4)) / denom
+            return PointLocation(row=y1 + t * (y2 - y1), col=x1 + t * (x2 - x1))
+
+        output = subject_corners[:]
+        n = len(clip_corners)
+
+        for i in range(n):
+            edge_start = clip_corners[i]
+            edge_end = clip_corners[(i + 1) % n]
+            input_list = output
+            output = []
+
+            m = len(input_list)
+            for j in range(m):
+                curr = input_list[j]
+                prev = input_list[(j - 1) % m]
+
+                curr_inside = inside(curr, edge_start, edge_end)
+                prev_inside = inside(prev, edge_start, edge_end)
+
+                if curr_inside:
+                    if not prev_inside:
+                        inter = compute_intersection(prev, curr, edge_start, edge_end)
+                        if inter: output.append(inter)
+                    output.append(curr)
+                elif prev_inside:
+                    inter = compute_intersection(prev, curr, edge_start, edge_end)
+                    if inter: output.append(inter)
+
+            if len(output) < 3: return []
+
+        polygon = Polygon(output, [])
+        bbox = polygon.to_bbox()
+        return [OrientedBBox.from_bbox(bbox)]
+
+    def _draw_contour_impl(self, bitmap, color, thickness=1, config=None):
+        """ """
+        corners = self.calculate_rotated_corners()
+        pts = np.array([[int(corner.col), int(corner.row)] for corner in corners], np.int32)
+        pts = pts.reshape((-1, 1, 2))
+        cv2.polylines(bitmap, [pts], isClosed=True, color=color, thickness=thickness)
+
+    def _draw_impl(self, bitmap: np.ndarray, color, thickness=1, config=None):
+        """ """
+        corners = self.calculate_rotated_corners()
+        pts = np.array([[int(corner.col), int(corner.row)] for corner in corners], np.int32)
+        pts = pts.reshape((-1, 1, 2))
+        cv2.fillPoly(bitmap, [pts], color)
+
+    @classmethod
+    def _to_pixel_coordinate_system_json(cls, data: Dict, image_size: List[int]) -> Dict:
+        """
+        Convert OrientedBBox from subpixel precision to pixel precision by subtracting a subpixel offset from the coordinates.
+
+        Points order in json format: [[left, top], [right, bottom]]
+
+        In the labeling tool, labels are created with subpixel precision,
+        which means that the coordinates of the oriented bounding box corners (top, left and bottom, right) can have decimal values representing fractions of a pixel.
+        However, in Supervisely SDK, geometry coordinates are represented using pixel precision, where the coordinates are integers representing whole pixels.
+
+        Example:
+        Step 1. Input coordinates:
+        - top = 1.55, left = 1.74, bottom = 4.63, right = 3.76
+
+        Step 2. Round the coordinates (still remain in subpixel precision):
+        - top = 1, left = 2, bottom = 5, right = 4
+        - top will be rounded down to 2, left will be rounded down to 2, bottom will be rounded up to 6, right will be rounded down to 6
+
+        Draw coordinates in pixel coordinate system:
+            0   1   2   3   4   5
+        0   +---+---+---+---+---+
+            |   |   |   |   |   |
+        1   +---+---+---+---+---+
+            |   |   | x | x |   |
+        2   +---+---+---+---+---+
+            |   |   | x | x |   |
+        3   +---+---+---+---+---+
+            |   |   | x | x |   |
+        4   +---+---+---+---+---+
+            |   |   | x | x |   |
+        5   +---+---+---+---+---+
+                      x   x
+
+        Step 3. Convert to pixel coordinates by subtracting a subpixel offset:
+        - top = 1, left = 2, bottom = 4, right = 3
+
+        Draw coordinates in pixel coordinate system:
+            0   1   2   3   4   5
+        0   +---+---+---+---+---+
+            |   |   |   |   |   |
+        1   +---+---+---+---+---+
+            |   |   | x | x |   |
+        2   +---+---+---+---+---+
+            |   |   | x | x |   |
+        3   +---+---+---+---+---+
+            |   |   | x | x |   |
+        4   +---+---+---+---+---+
+            |   |   | x | x |   |
+        5   +---+---+---+---+---+
+
+        :param data: Json data with geometry config.
+        :type data: :class:`dict`
+        :param image_size: Image size in pixels (height, width).
+        :type image_size: List[int]
+        :return: Json data with coordinates converted to pixel coordinate system.
+        :rtype: :class:`dict`
+        """
+        data = deepcopy(data)  # Avoid modifying the original data
+
+        points = data[POINTS]
+        [top, bottom] = sorted([points[0][1], points[1][1]])
+        [left, right] = sorted([points[0][0], points[1][0]])
+
+        top, left, bottom, right = cls._round_subpixel_coordinates(top, left, bottom, right)
+        right = max(left, right - 1)
+        bottom = max(top, bottom - 1)
+        data[POINTS] = [[left, top], [right, bottom]]
+        return data
+
+    @classmethod
+    def _to_subpixel_coordinate_system_json(cls, data: Dict) -> Dict:
+        """
+        Convert OrientedBBox from pixel precision to subpixel precision by adding a subpixel offset to the coordinates.
+
+        Points order in json format: [[left, top], [right, bottom]]
+
+        In the labeling tool, labels are created with subpixel precision,
+        which means that the coordinates of the oriented bounding box corners (top, left and bottom, right) can have decimal values representing fractions of a pixel.
+        However, in Supervisely SDK, geometry coordinates are represented using pixel precision, where the coordinates are integers representing whole pixels.
+
+        :param data: Json data with geometry config.
+        :type data: :class:`dict`
+        :return: Json data with coordinates converted to subpixel coordinate system.
+        :rtype: :class:`dict`
+        """
+        data = deepcopy(data)  # Avoid modifying the original data
+
+        points = data[POINTS]
+        [top, bottom] = sorted([points[0][1], points[1][1]])
+        [left, right] = sorted([points[0][0], points[1][0]])
+
+        right = max(left, right + 1)
+        bottom = max(top, bottom + 1)
+        data[POINTS] = [[left, top], [right, bottom]]
+        return data