update supervisely utils

Karussell/Supervisely/SuperviselyKeypointsGUI/SuperviselyAPI_requirements.txt

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+pip install wxPython==4.1.1
+pip install cv2
+pip install numpy
+pip install pandas
+pip install supervisely

Karussell/Supervisely/SuperviselyKeypointsGUI/SuperviselyAPI_start.ipynb

@@ -0,0 +1,53 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "id": "a916d355",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from SuperviselyKeypointsGUI import *\n",
+    "\n",
+    "keypoints_3d_path = r'karussel_24kps.csv'\n",
+    "token = ''\n",
+    "dataset_id = 627375 #(images)\n",
+    "project_id = 184347 #(Nurburg-karussel)\n",
+    "keypoints_3d = pd.read_csv(keypoints_3d_path, index_col=0).astype(float)\n",
+    "sp = Start_annotation(project_id, dataset_id, token,\n",
+    "                     'local_dataset_path', keypoints_3d_path, 'point_cloud_path')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "id": "d4037523",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "sp.start()"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.9.7"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}

Karussell/Supervisely/SuperviselyKeypointsGUI/SuperviselyKeypointsGUI.py

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+import supervisely_lib as sly
+import pandas as pd
+import cv2 as cv
+import os
+# from PIL import Image
+import numpy as np
+# import open3d as o3d
+import wx
+import wx.xrc
+
+
+def last_keypoints_on_img(ann_info):
+    updated = []
+    for obj in ann_info[2]['objects']:
+        updated.append([obj['classTitle'], obj['updatedAt']])
+    updated = pd.DataFrame(updated, columns=['classTitle', 'updatedAt'])
+    updated.updatedAt = pd.to_datetime(updated.updatedAt)
+    last = updated[updated.updatedAt == updated.updatedAt.max()]
+    return last
+
+
+def label2hash(meta_json, last):
+    for clss in meta_json['classes']:
+        if clss['title'] == last['classTitle'].values[0]:
+            meta_nodes = clss['geometry_config']['nodes']
+            label2hash = {}
+            for name in meta_nodes:
+                label2hash[meta_nodes[name]['label']] = name
+    return label2hash
+
+
+def fit(imageSize, keypoints_2d, keypoints_3d, focus=1):
+
+    objectPoints = keypoints_3d.loc[keypoints_2d.index].values
+    imagePoints = keypoints_2d[['x', 'y']].values.astype('float')
+
+    n = len(imagePoints)
+    fx = fy = focus*np.hypot(*imageSize)
+    cx = imageSize[1]/2
+    cy = imageSize[0]/2
+    distCoeffs = np.zeros(4, np.float32)
+    if n < 6:
+        raise ValueError('Number of keypoints must be > 5')
+
+    cameraMatrix = np.float32([[fx,0, cx],
+                               [0, fy,cy],
+                               [0, 0, 1]])
+
+    _, rvecs, tvecs = cv.solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, flags=cv.SOLVEPNP_ITERATIVE )
+    return rvecs, tvecs, cameraMatrix, distCoeffs
+
+
+def draw_cloud(img, points_3d, params):
+    imgpts, _ = cv.projectPoints(points_3d, *params)
+
+    for p in imgpts[:, 0]:
+        img = cv.circle(img, p.astype(int), 0, (255,20,147), -1)
+
+
+def draw_keypoints(img, keypoints_3d, params):
+    imgpts, _ = cv.projectPoints(keypoints_3d, *params)
+
+    for p in imgpts[:, 0]:
+        img = cv.circle(img, p.astype(int), 5, (0,0,0), -1)
+    
+    
+def resize(img, width=1000):
+    y, x = img.shape[:2]
+    return cv.resize(img, (width, int(y/x*width)))
+
+
+class Start_annotation():
+    def __init__( self, project_id, dataset_id, token,
+                     local_dataset_path, keypoints_3d_path, point_cloud_path): 
+        
+        adress = 'https://app.supervise.ly/'
+#         self.local_dataset_path = local_dataset_path
+#         self.points_3d = np.asarray(o3d.io.read_point_cloud(point_cloud_path).points)
+        self.keypoints_3d = pd.read_csv(keypoints_3d_path, index_col=0).astype(float)
+
+        self.api = sly.Api(adress, token)
+        self.meta_json = self.api.project.get_meta(project_id)
+        self.meta = sly.ProjectMeta.from_json(self.meta_json)
+        self.images = pd.DataFrame(self.api.image.get_list(dataset_id)).sort_values('name', ignore_index=True)
+    
+
+
+    def load_ann(self, img_id):
+        ann_info = self.api.annotation.download(img_id)
+        return ann_info
+    
+    def annotations(self, ann_info):
+
+        last = last_keypoints_on_img(ann_info)
+        if len(last) == 0:
+            return 
+        nodes = ann_info[2]['objects'][last.index[0]]['nodes']
+        keypoints_2d = pd.DataFrame(columns=['x', 'y'])
+
+        for i in range(1, len(nodes)+1):
+            keypoints_2d.loc[i] = nodes[label2hash(self.meta_json, last)[str(i)]]['loc']
+
+        return keypoints_2d
+    
+    def new_annotations(self, ann_info, new_keypoints):
+
+        last = last_keypoints_on_img(ann_info)
+        nodes = ann_info[2]['objects'][last.index[0]]['nodes']
+
+        for i in new_keypoints.index:
+            nodes[label2hash(self.meta_json, last)[str(i)]]['loc'] = new_keypoints.loc[i].tolist()
+
+        return ann_info
+    
+    def start(self):
+        app = wx.App()
+        wnd = GUI(self.images, self.transform_by_visible)
+        wnd.Show(True)
+        app.MainLoop()
+
+    def transform_by_visible(self, idxs, img_id, name, focus=1, send=True, all_points=False, change_all=False, plot=False):
+        if send==plot==False:
+            return 'Error_empty_request'
+        ann_info = self.load_ann(img_id)
+        keypoints_2d = self.annotations(ann_info)
+        if keypoints_2d is None:
+            return 'Error_annotations'
+        if not all_points:
+            keypoints_2d = keypoints_2d.loc[idxs]
+        imgSize = list(ann_info.annotation['size'].values())
+        params = fit(imgSize, keypoints_2d, self.keypoints_3d, focus)
+        new_keypoints = pd.DataFrame(cv.projectPoints(self.keypoints_3d.values, *params)[0][:, 0],
+                                     columns=['x', 'y'], index=range(1, len(self.keypoints_3d)+1))
+        if not change_all:
+            new_keypoints = new_keypoints.drop(idxs)
+        if send:
+            new_ann = self.new_annotations(ann_info, new_keypoints)
+            new_ann = sly.Annotation.from_json(new_ann.annotation, self.meta)
+            self.api.annotation.upload_ann(img_id, new_ann)
+        if plot:
+            img = cv.imread(os.path.join(self.local_dataset_path, name))
+    #         for p in keypoints_2d.values:
+    #             img = cv.circle(img, p.astype(int), 8, (255,255,255), -1)
+            draw_cloud(img, self.points_3d, params)
+            cv.imshow(name, resize(img, 1200))
+            a = cv.waitKey(0)
+            if (a==ord('q')) | (a==233):
+                cv.destroyAllWindows()
+        return len(keypoints_2d)
+
+class GUI( wx.Frame ):
+    def __init__( self, images, func):
+        wx.Frame.__init__ ( self, None, id = wx.ID_ANY, title = 'SuperviselyKeypointsGui', pos = wx.DefaultPosition, size = wx.Size( 250,450 ), style = wx.CAPTION|wx.CLOSE_BOX|wx.SYSTEM_MENU|wx.RESIZE_BORDER|wx.TAB_TRAVERSAL )
+        self.images = images
+        self.func = func
+        self.SetSizeHints( wx.DefaultSize, wx.DefaultSize )
+
+        gbSizer1 = wx.GridBagSizer( 0, 0 )
+        gbSizer1.SetFlexibleDirection( wx.VERTICAL )
+        gbSizer1.SetNonFlexibleGrowMode( wx.FLEX_GROWMODE_SPECIFIED )
+
+        gbSizer1.SetMinSize( wx.Size( 200,400 ) )
+
+        bSizer3 = wx.BoxSizer( wx.VERTICAL )
+        self.m_checkBoxes = []
+        for i in range(25):
+            CheckBox = wx.CheckBox( self, wx.ID_ANY, u"{}".format(str(i+1)), wx.DefaultPosition, wx.DefaultSize, 0 )
+            self.m_checkBoxes.append(CheckBox)
+            bSizer3.Add( self.m_checkBoxes[i], 0, wx.ALL, 0 )
+
+        gbSizer1.Add( bSizer3, wx.GBPosition( 0, 0 ), wx.GBSpan( 1, 1 ), wx.EXPAND|wx.LEFT|wx.TOP, 5 )
+        wSizer5 = wx.WrapSizer( wx.HORIZONTAL, 0 )
+
+        m_radioBox5Choices = [ u"True", u"False" ]
+        self.radioBox_send = wx.RadioBox( self, wx.ID_ANY, u"SendKeypoints", wx.DefaultPosition, wx.DefaultSize, m_radioBox5Choices, 1, wx.RA_SPECIFY_COLS )
+        self.radioBox_send.SetSelection( 1 )
+        wSizer5.Add( self.radioBox_send, 1, wx.ALL, 5 )
+
+        m_radioBox7Choices = [ u"True", u"False" ]
+        self.radioBox_plot = wx.RadioBox( self, wx.ID_ANY, u"Plot", wx.DefaultPosition, wx.DefaultSize, m_radioBox7Choices, 1, wx.RA_SPECIFY_COLS )
+        self.radioBox_plot.SetSelection( 1 )
+        wSizer5.Add( self.radioBox_plot, 1, wx.ALL, 5 )
+        
+        self.m_checkBox26 = wx.CheckBox(self, wx.ID_ANY, u"All points", wx.DefaultPosition, wx.DefaultSize, 0)
+        wSizer5.Add( self.m_checkBox26, 0, wx.ALL, 5 )
+        
+        self.m_staticText7 = wx.StaticText( self, wx.ID_ANY, u"0", wx.DefaultPosition, wx.DefaultSize, 0 )
+        self.m_staticText7.Wrap( -1 )
+        wSizer5.Add( self.m_staticText7, 0, wx.ALL, 5 )
+
+        self.m_button3 = wx.Button( self, wx.ID_ANY, u"Go", wx.DefaultPosition, wx.DefaultSize, 0 )
+        wSizer5.Add( self.m_button3, 0, wx.ALL, 5 )
+
+        gbSizer1.Add( wSizer5, wx.GBPosition( 0, 1 ), wx.GBSpan( 1, 1 ), wx.ALIGN_CENTER_HORIZONTAL|wx.EXPAND|wx.TOP, 0 )
+
+        m_choice3Choices = self.images.name.tolist()
+        self.m_choice3 = wx.Choice( self, wx.ID_ANY, wx.DefaultPosition, wx.DefaultSize, m_choice3Choices, 0 )
+        self.m_choice3.SetSelection( 0 )
+        gbSizer1.Add( self.m_choice3, wx.GBPosition( 1, 0 ), wx.GBSpan( 2, 8 ), wx.ALL, 5 )
+        
+        self.SetSizer( gbSizer1 )
+        self.Layout()
+
+        self.Centre( wx.BOTH )
+        self.m_button3.Bind( wx.EVT_BUTTON, self.Go )
+
+    def __del__( self ):
+        pass
+    
+    def Go( self, event ):
+        idxs = []
+        for i, checkBox in enumerate(self.m_checkBoxes, start=1):
+            if checkBox.IsChecked():
+                idxs.append(i)
+        all_points = self.m_checkBox26.IsChecked()
+        if (len(idxs)<6) & (not all_points):
+            wx.MessageBox('Точек должно быть больше 5', 'Ошибка', wx.OK)            
+            event.Skip()
+            return            
+        if all_points:
+            n = 25
+        else:
+            n = len(idxs)
+        self.m_staticText7.SetLabel(str(n))
+        img_name = self.m_choice3.GetString(self.m_choice3.GetSelection())
+        send = self.radioBox_send.GetString(self.radioBox_send.GetSelection())
+        plot = self.radioBox_plot.GetString(self.radioBox_plot.GetSelection())
+        img_id = int(self.images[self.images.name==img_name].id.values[0])
+        out = self.func(idxs, img_id, img_name, 1, send=(send=='True'), plot=(plot=='True'), all_points=all_points)  
+        if out == 'Error_empty_request':
+            wx.MessageBox('Выберите plot или send', 'Ошибка', wx.OK) 
+        elif out == 'Error_annotations':
+            wx.MessageBox('На этом изображении нет разметки', 'Ошибка', wx.OK)         
+        event.Skip()
+        return
+    
+    
+if __name__ == '__main__':
+    
+    point_cloud_path = r''
+    keypoints_3d_path = r'karussel_24kps.csv'
+    local_dataset_path = r''
+    token = ''
+    dataset_id = 627375 #(images)
+    project_id = 184347 #(Nurburg-karussel)
+
+    sp = Start_annotation(project_id, dataset_id, token,
+                         local_dataset_path, keypoints_3d_path, point_cloud_path)
+    
+    sp.start()

Karussell/Supervisely/SuperviselyKeypointsGUI/karussel_24kps.csv

@@ -0,0 +1,25 @@
+,x,y,z
+1,129,-137,0
+2,-41,33,0
+3,-65,46,0
+4,22,-134,0
+5,70,-253,0
+6,69,-329,0
+7,-37,-224,0
+8,-88,-199,0
+9,-143,-171,0
+10,-173,-119,0
+11,-219,-30,0
+12,-307,-26,0
+13,-207,123,0
+14,-138,258,0
+15,-43,240,0
+16,10,242,0
+17,62,229,0
+18,146,174,0
+19,213,138,0
+20,230,59,0
+21,302,-11,0
+22,288,-93,0
+23,172,-65,0
+24,103,-14,0

Karussell/Supervisely/SuperviselyKeypointsGUI/start.bat

@@ -0,0 +1,4 @@
+@echo on
+call C:\Anaconda\Scripts\activate.bat
+C:\Anaconda\python.exe SuperviselyKeypointsGUI.py
+pause