import importlib from typing import List, Any, Tuple, Optional import numpy as np from ..helper_types import BoundingBox, Annotation # source: seaborn, color palette tab10 COLOR_PALETTE = [(30, 118, 179), (255, 126, 13), (43, 159, 43), (213, 38, 39), (147, 102, 188), (139, 85, 74), (226, 118, 193), (126, 126, 126), (187, 188, 33), (22, 189, 206)] BLACK = (0, 0, 0) GRAY_75 = (63, 63, 63) GRAY_50 = (127, 127, 127) GRAY_25 = (191, 191, 191) WHITE = (255, 255, 255) FULL_CROP = (0., 0., 1., 1.) def corners_3d_to_2d(corners3d): """ Args: corners3d: (N, 8, 2) Returns: corners2d: (N, 4, 2) """ # select pairs to reorganize mask_0_3 = corners3d[:, 0:4, 0].argmax(1) // 2 != 0 mask_4_7 = corners3d[:, 4:8, 0].argmin(1) // 2 != 0 # reorganize corners in the order of (bottom-right, bottom-left) corners3d[mask_0_3, 0:4] = corners3d[mask_0_3][:, [2, 3, 0, 1]] # reorganize corners in the order of (top-left, top-right) corners3d[mask_4_7, 4:8] = corners3d[mask_4_7][:, [2, 3, 0, 1]] # calculate corners in order bot_r = np.stack([corners3d[:, 0:2, 0].max(1), corners3d[:, 0:2, 1].min(1)], axis=-1) bot_l = np.stack([corners3d[:, 2:4, 0].min(1), corners3d[:, 2:4, 1].min(1)], axis=-1) top_l = np.stack([corners3d[:, 4:6, 0].min(1), corners3d[:, 4:6, 1].max(1)], axis=-1) top_r = np.stack([corners3d[:, 6:8, 0].max(1), corners3d[:, 6:8, 1].max(1)], axis=-1) return np.stack([bot_r, bot_l, top_l, top_r], axis=1) def rotate_points_along_z(points, angle): """ Args: points: (N, 3 + C) angle: angle along z-axis, angle increases x ==> y Returns: """ cosa = np.cos(angle) sina = np.sin(angle) zeros = np.zeros(points.shape[0]) ones = np.ones(points.shape[0]) rot_matrix = np.stack(( cosa, sina, zeros, -sina, cosa, zeros, zeros, zeros, ones)).reshape((-1, 3, 3)) points_rot = np.matmul(points[:, :, 0:3], rot_matrix) points_rot = np.concatenate((points_rot, points[:, :, 3:]), axis=-1) return points_rot def boxes_to_corners_3d(boxes3d): """ 7 -------- 4 /| /| 6 -------- 5 . | | | | . 3 -------- 0 |/ |/ 2 -------- 1 Args: boxes3d: (N, 7) [x, y, z, dx, dy, dz, heading], (x, y, z) is the box center Returns: corners3d: (N, 8, 3) """ template = np.array( [[1, 1, -1], [1, -1, -1], [-1, -1, -1], [-1, 1, -1], [1, 1, 1], [1, -1, 1], [-1, -1, 1], [-1, 1, 1]], ) / 2 # corners3d = boxes3d[:, None, 3:6].repeat(1, 8, 1) * template[None, :, :] corners3d = np.tile(boxes3d[:, None, 3:6], (1, 8, 1)) * template[None, :, :] corners3d = rotate_points_along_z(corners3d.reshape((-1, 8, 3)), boxes3d[:, 6]).reshape((-1, 8, 3)) corners3d += boxes3d[:, None, 0:3] return corners3d def intersection_area(rectangle1: BoundingBox, rectangle2: BoundingBox) -> float: """ Give intersection area of two rectangles. @param rectangle1: (x0, y0, w, h) of first rectangle @param rectangle2: (x0, y0, w, h) of second rectangle """ rectangle1 = rectangle1[0], rectangle1[1], rectangle1[0] + rectangle1[2], rectangle1[1] + rectangle1[3] rectangle2 = rectangle2[0], rectangle2[1], rectangle2[0] + rectangle2[2], rectangle2[1] + rectangle2[3] x_overlap = max(0., min(rectangle1[2], rectangle2[2]) - max(rectangle1[0], rectangle2[0])) y_overlap = max(0., min(rectangle1[3], rectangle2[3]) - max(rectangle1[1], rectangle2[1])) return x_overlap * y_overlap def horizontally_flip_bbox(bbox: BoundingBox) -> BoundingBox: return 1 - (bbox[0] + bbox[2]), bbox[1], bbox[2], bbox[3] def absolute_bbox(relative_bbox: BoundingBox, width: int, height: int) -> Tuple[int, int, int, int]: bbox = relative_bbox # bbox = bbox[0] * width, bbox[1] * height, (bbox[0] + bbox[2]) * width, (bbox[1] + bbox[3]) * height bbox = bbox[0] * width, bbox[1] * height, bbox[2] * width, bbox[3] * height # return int(bbox[0]), int(bbox[1]), int(bbox[2]), int(bbox[3]) x1, x2 = min(int(bbox[2]), int(bbox[0])), max(int(bbox[2]), int(bbox[0])) y1, y2 = min(int(bbox[3]), int(bbox[1])), max(int(bbox[3]), int(bbox[1])) if x1 == x2: x2 += 1 if y1 == y2: y2 += 1 return x1, y1, x2, y2 def pad_list(list_: List, pad_element: Any, pad_to_length: int) -> List: return list_ + [pad_element for _ in range(pad_to_length - len(list_))] def rescale_annotations(annotations: List[Annotation], crop_coordinates: BoundingBox, flip: bool) -> \ List[Annotation]: def clamp(x: float): return max(min(x, 1.), 0.) def rescale_bbox(bbox: BoundingBox) -> BoundingBox: x0 = clamp((bbox[0] - crop_coordinates[0]) / crop_coordinates[2]) y0 = clamp((bbox[1] - crop_coordinates[1]) / crop_coordinates[3]) w = min(bbox[2] / crop_coordinates[2], 1 - x0) h = min(bbox[3] / crop_coordinates[3], 1 - y0) if flip: x0 = 1 - (x0 + w) return x0, y0, w, h return [a._replace(bbox=rescale_bbox(a.bbox)) for a in annotations] def filter_annotations(annotations: List[Annotation], crop_coordinates: BoundingBox) -> List: return [a for a in annotations if intersection_area(a.bbox, crop_coordinates) > 0.0] def additional_parameters_string(annotation: Annotation, short: bool = True) -> str: sl = slice(1) if short else slice(None) string = '' if not (annotation.is_group_of or annotation.is_occluded or annotation.is_depiction or annotation.is_inside): return string if annotation.is_group_of: string += 'group'[sl] + ',' if annotation.is_occluded: string += 'occluded'[sl] + ',' if annotation.is_depiction: string += 'depiction'[sl] + ',' if annotation.is_inside: string += 'inside'[sl] return '(' + string.strip(",") + ')' def get_plot_font_size(font_size: Optional[int], figure_size: Tuple[int, int]) -> int: if font_size is None: font_size = 10 if max(figure_size) >= 256: font_size = 12 if max(figure_size) >= 512: font_size = 15 return font_size def get_circle_size(figure_size: Tuple[int, int]) -> int: circle_size = 2 if max(figure_size) >= 256: circle_size = 3 if max(figure_size) >= 512: circle_size = 4 return circle_size def load_object_from_string(object_string: str) -> Any: """ Source: https://stackoverflow.com/a/10773699 """ module_name, class_name = object_string.rsplit(".", 1) return getattr(importlib.import_module(module_name), class_name)