def from_dict(self, object_dict: dict) -> NDDS_Annotation_Object:
check_required_keys(object_dict,
required_keys=[
'class', 'instance_id', 'visibility',
'location', 'quaternion_xyzw',
'pose_transform', 'cuboid_centroid',
'projected_cuboid_centroid', 'bounding_box',
'cuboid', 'projected_cuboid'
])
check_required_keys(object_dict['bounding_box'],
required_keys=['top_left', 'bottom_right'])
return NDDS_Annotation_Object(
class_name=object_dict['class'],
instance_id=object_dict['instance_id'],
visibility=object_dict['visibility'],
location=Point3D.from_list(object_dict['location']),
quaternion_xyzw=Quaternion.from_list(
object_dict['quaternion_xyzw']),
pose_transform=np.array(object_dict['pose_transform']),
cuboid_centroid=Point3D.from_list(object_dict['cuboid_centroid']),
projected_cuboid_centroid=Point2D.from_list(
object_dict['projected_cuboid_centroid']),
bounding_box=BBox.from_list(
object_dict['bounding_box']['top_left'] +
object_dict['bounding_box']['bottom_right'],
input_format='pminpmax'),
cuboid=Cuboid3D.from_list(object_dict['cuboid'], demarcation=True),
projected_cuboid=Cuboid2D.from_list(
object_dict['projected_cuboid'], demarcation=True))
def from_dict(cls, item_dict: dict) -> CameraData:
check_required_keys(item_dict,
required_keys=[
'location_worldframe',
'quaternion_xyzw_worldframe'
])
return CameraData(location_worldframe=Point3D.from_list(
coords=item_dict['location_worldframe']),
quaternion_xyzw_worldframe=Quaternion.from_list(
coords=item_dict['quaternion_xyzw_worldframe']))
def from_dict(cls, item_dict: dict) -> Linemod_Annotation:
return Linemod_Annotation(
data_root=item_dict['data_root'],
mask_path=item_dict['mask_path'],
depth_path=item_dict['depth_path']
if 'depth_path' in item_dict else None,
type=item_dict['type'],
class_name=item_dict['cls'],
corner_2d=Point2D_List.from_list(item_dict['corner_2d'],
demarcation=True),
corner_3d=Point3D_List.from_list(item_dict['corner_3d'],
demarcation=True),
center_2d=Point2D.from_list(item_dict['center_2d']),
center_3d=Point3D.from_list(item_dict['center_3d']),
fps_2d=Point2D_List.from_list(item_dict['fps_2d'],
demarcation=True),
fps_3d=Point3D_List.from_list(item_dict['fps_3d'],
demarcation=True),
K=LinemodCamera.from_matrix(np.array(item_dict['K'])),
pose=QuaternionList.from_list(item_dict['pose']),
image_id=item_dict['image_id'],
category_id=item_dict['category_id'],
id=item_dict['id'])
def distance_from_camera(self) -> float:
return (self.position.distance(Point3D.origin())
if self.position is not None else None)
def position(self) -> Point3D:
return (Point3D.from_list(self.object_world_position.tolist())
if self.object_world_position is not None else None)
assert pt2d_0 - const_int == Point2D(x=pt2d_0.x - const_int,
y=pt2d_0.y - const_int)
assert pt2d_0 - const_float == Point2D(x=pt2d_0.x - const_float,
y=pt2d_0.y - const_float)
assert pt2d_0 * const_int == Point2D(x=pt2d_0.x * const_int,
y=pt2d_0.y * const_int)
assert pt2d_0 * const_float == Point2D(x=pt2d_0.x * const_float,
y=pt2d_0.y * const_float)
assert pt2d_0 / const_int == Point2D(x=pt2d_0.x / const_int,
y=pt2d_0.y / const_int)
assert pt2d_0 / const_float == Point2D(x=pt2d_0.x / const_float,
y=pt2d_0.y / const_float)
pt3d_0 = Point3D(x=1.0, y=2.0, z=3.0)
pt3d_1 = Point3D(x=4.0, y=5.0, z=6.0)
print(f'Point2D Test Passed')
pt2d_list_0 = Point2D_List(point_list=[pt2d_0 for i in range(5)])
assert pt2d_list_0 + pt2d_1 == Point2D_List(
[point + pt2d_1 for point in pt2d_list_0])
assert pt2d_list_0 + const_int == Point2D_List(
[point + const_int for point in pt2d_list_0])
assert pt2d_list_0 - pt2d_1 == Point2D_List(
[point - pt2d_1 for point in pt2d_list_0])
assert pt2d_list_0 - const_int == Point2D_List(
[point - const_int for point in pt2d_list_0])
assert pt2d_list_0 * const_int == Point2D_List(