Use dropdown list instead of editbox for box classes (#103)

* Use dropdown list instead of editbox for box classes

* not ignore labels/schema

* mypy and black

* change to_open3d_point_cloud, to_point_cloud to staticmethod-s

* remove print

* change stylesheet for QComboVox#current_class_dropdown

.gitignore

@@ -14,7 +14,7 @@
 !labelCloud/resources/examples/exemplary.ply
 !labelCloud/resources/examples/exemplary.json
 !labelCloud/resources/labelCloud_icon.pcd
-!labels/segmentation/schema/label_definition.json
+!labels/schema/label_definition.json
 !labels/segmentation/exemplary.bin
 
 # ---------------------------------------------------------------------------- #

config.ini

@@ -1,5 +1,5 @@
 [MODE]
-segmentation = true
+segmentation = false
 
 [FILE]
 ; source of point clouds
@@ -28,8 +28,6 @@ label_color_mix_ratio = 0.3
 [LABEL]
 ; format for exporting labels. choose from (vertices, centroid_rel, centroid_abs, kitti)
 label_format = centroid_abs
-; list of object classes for autocompletion in the text field
-object_classes = cart, box
 ; default object class for new bounding boxes
 std_object_class = cart
 ; number of decimal places for exporting the bounding box parameter.

labelCloud/control/bbox_controller.py

@@ -84,6 +84,9 @@ def add_bbox(self, bbox: BBox) -> None:
         if isinstance(bbox, BBox):
             self.bboxes.append(bbox)
             self.set_active_bbox(self.bboxes.index(bbox))
+            self.view.current_class_dropdown.setCurrentText(
+                self.get_active_bbox().classname  # type: ignore
+            )
             self.view.status_manager.update_status(
                 "Bounding Box added, it can now be corrected.", Mode.CORRECTION
             )
@@ -321,9 +324,11 @@ def update_z_dial(self) -> None:
 
     def update_curr_class(self) -> None:
         if self.has_active_bbox():
-            self.view.update_curr_class_edit()
+            self.view.current_class_dropdown.setCurrentText(
+                self.get_active_bbox().classname  # type: ignore
+            )
         else:
-            self.view.update_curr_class_edit(force="")
+            self.view.controller.pcd_manager.populate_class_dropdown()
 
     def update_label_list(self) -> None:
         """Updates the list of drawn labels and highlights the active label.

labelCloud/control/pcd_manager.py

@@ -40,7 +40,9 @@ def __init__(self) -> None:
 
         # Point cloud control
         self.pointcloud: Optional[PointCloud] = None
-        self.collected_object_classes: Set[str] = set()
+        self.collected_object_classes: Set[
+            str
+        ] = set()  # TODO: this should integrate with the new label definition setup.
         self.saved_perspective: Optional[Perspective] = None
 
     @property
@@ -133,6 +135,13 @@ def get_prev_pcd(self) -> None:
         else:
             raise Exception("No point cloud left for loading!")
 
+    def populate_class_dropdown(self) -> None:
+        # Add point label list
+        self.view.current_class_dropdown.clear()
+        assert self.pointcloud is not None
+        for key in self.pointcloud.label_definition:
+            self.view.current_class_dropdown.addItem(key)
+
     def get_labels_from_file(self) -> List[BBox]:
         bboxes = self.label_manager.import_labels(self.pcd_path)
         logging.info(green("Loaded %s bboxes!" % len(bboxes)))
@@ -149,8 +158,6 @@ def save_labels_into_file(self, bboxes: List[BBox]) -> None:
             self.collected_object_classes.update(
                 {bbox.get_classname() for bbox in bboxes}
             )
-            self.view.update_label_completer(self.collected_object_classes)
-            self.view.update_default_object_class_menu(self.collected_object_classes)
         else:
             logging.warning("No point clouds to save labels for!")
 
@@ -224,7 +231,7 @@ def rotate_pointcloud(
         rotation_matrix = o3d.geometry.get_rotation_matrix_from_axis_angle(
             np.multiply(axis, angle)
         )
-        o3d_pointcloud = Open3DHandler().to_open3d_point_cloud(self.pointcloud)
+        o3d_pointcloud = Open3DHandler.to_open3d_point_cloud(self.pointcloud)
         o3d_pointcloud.rotate(rotation_matrix, center=tuple(rotation_point))
         o3d_pointcloud.translate([0, 0, -rotation_point[2]])
         logging.info("Rotating point cloud...")
@@ -240,8 +247,13 @@ def rotate_pointcloud(
                 center=(0, 0, 0),
             )
 
+        points, colors = Open3DHandler.to_point_cloud(o3d_pointcloud)
         self.pointcloud = PointCloud(
-            self.pcd_path, *Open3DHandler().to_point_cloud(o3d_pointcloud)
+            self.pcd_path,
+            points,
+            self.pointcloud.label_definition,
+            colors,
+            self.pointcloud.labels,
         )
         self.pointcloud.to_file()
 

labelCloud/io/__init__.py

@@ -0,0 +1,10 @@
+import json
+from pathlib import Path
+from typing import Dict
+
+
+def read_label_definition(label_definition_path: Path) -> Dict[str, int]:
+    with open(label_definition_path, "r") as f:
+        label_definition: Dict[str, int] = json.loads(f.read())
+        assert len(label_definition) > 0
+    return label_definition

labelCloud/io/pointclouds/open3d.py

@@ -3,7 +3,6 @@
 
 import numpy as np
 import numpy.typing as npt
-
 import open3d as o3d
 
 from . import BasePointCloudHandler
@@ -18,17 +17,17 @@ class Open3DHandler(BasePointCloudHandler):
     def __init__(self) -> None:
         super().__init__()
 
+    @staticmethod
     def to_point_cloud(
-        self, pointcloud: o3d.geometry.PointCloud
+        pointcloud: o3d.geometry.PointCloud,
     ) -> Tuple[npt.NDArray, Optional[npt.NDArray]]:
         return (
             np.asarray(pointcloud.points).astype("float32"),
             np.asarray(pointcloud.colors).astype("float32"),
         )
 
-    def to_open3d_point_cloud(
-        self, pointcloud: "PointCloud"
-    ) -> o3d.geometry.PointCloud:
+    @staticmethod
+    def to_open3d_point_cloud(pointcloud: "PointCloud") -> o3d.geometry.PointCloud:
         o3d_pointcloud = o3d.geometry.PointCloud(
             o3d.utility.Vector3dVector(pointcloud.points)
         )

labelCloud/io/segmentations/base.py

@@ -1,7 +1,6 @@
-import json
 from abc import abstractmethod
 from pathlib import Path
-from typing import Dict, Tuple, Type
+from typing import Dict, Set, Type
 
 import numpy as np
 import numpy.typing as npt
@@ -10,23 +9,18 @@
 
 
 class BaseSegmentationHandler(object, metaclass=SingletonABCMeta):
-    EXTENSIONS = set()  # should be set in subclasses
+    EXTENSIONS: Set[str] = set()  # should be set in subclasses
 
-    def __init__(self, label_definition_path: Path) -> None:
-        self.read_label_definition(label_definition_path)
-
-    def read_label_definition(self, label_definition_path: Path) -> None:
-        with open(label_definition_path, "r") as f:
-            self.label_definition: Dict[str, int] = json.loads(f.read())
-            assert len(self.label_definition) > 0
+    def __init__(self, label_definition: Dict[str, int]) -> None:
+        self.label_definition = label_definition
 
     @property
     def default_label(self) -> int:
         return min(list(self.label_definition.values()))
 
     def read_or_create_labels(
         self, label_path: Path, num_points: int
-    ) -> Tuple[Dict[str, int], npt.NDArray[np.int8]]:
+    ) -> npt.NDArray[np.int8]:
         """Read labels per point and its schema"""
         if label_path.exists():
             labels = self._read_labels(label_path)
@@ -36,7 +30,7 @@ def read_or_create_labels(
                 )
         else:
             labels = self._create_labels(num_points)
-        return self.label_definition, labels
+        return labels
 
     def overwrite_labels(self, label_path: Path, labels: npt.NDArray[np.int8]) -> None:
         return self._write_labels(label_path, labels)
@@ -58,3 +52,6 @@ def get_handler(cls, file_extension: str) -> Type["BaseSegmentationHandler"]:
         for subclass in cls.__subclasses__():
             if file_extension in subclass.EXTENSIONS:
                 return subclass
+        raise NotImplementedError(
+            f"{file_extension} is not supported for segmentation labels."
+        )

labelCloud/io/segmentations/numpy.py

@@ -12,7 +12,7 @@ class NumpySegmentationHandler(BaseSegmentationHandler):
     def __init__(self, *args, **kwargs) -> None:
         super().__init__(*args, **kwargs)
 
-    def _create_labels(self, num_points: int) -> npt.NDArray[np.int8]:
+    def _create_labels(self, num_points: int, *args, **kwargs) -> npt.NDArray[np.int8]:
         return np.ones(shape=(num_points,), dtype=np.int8) * self.default_label
 
     def _read_labels(self, label_path: Path) -> npt.NDArray[np.int8]:

labelCloud/model/point_cloud.py

@@ -1,16 +1,15 @@
 import ctypes
 import logging
 from pathlib import Path
-from typing import Dict, Optional, Tuple
-
-import pkg_resources
+from typing import Dict, Optional, Tuple, cast
 
 import numpy as np
 import numpy.typing as npt
 import OpenGL.GL as GL
 
 from ..control.config_manager import config
 from ..definitions.types import Point3D, Rotations3D, Translation3D
+from ..io import read_label_definition
 from ..io.pointclouds import BasePointCloudHandler
 from ..io.segmentations import BaseSegmentationHandler
 from ..utils.color import colorize_points_with_height, get_distinct_colors
@@ -43,10 +42,10 @@ class PointCloud(object):
     def __init__(
         self,
         path: Path,
-        points: np.ndarray,
+        points: npt.NDArray[np.float32],
+        label_definition: Dict[str, int],
         colors: Optional[np.ndarray] = None,
         segmentation_labels: Optional[npt.NDArray[np.int8]] = None,
-        label_definition: Optional[Dict[str, int]] = None,
         init_translation: Optional[Tuple[float, float, float]] = None,
         init_rotation: Optional[Tuple[float, float, float]] = None,
         write_buffer: bool = True,
@@ -55,11 +54,11 @@ def __init__(
         self.path = path
         self.points = points
         self.colors = colors if type(colors) == np.ndarray and len(colors) > 0 else None
+        self.label_definition = label_definition
 
-        self.labels = self.label_definition = self.label_color_map = None
+        self.labels = self.label_color_map = None
         if self.SEGMENTATION:
             self.labels = segmentation_labels
-            self.label_definition = label_definition
             self.label_color_map = get_distinct_colors(len(label_definition))
             self.mix_ratio = config.getfloat("POINTCLOUD", "label_color_mix_ratio")
 
@@ -95,7 +94,6 @@ def __init__(
                 logging.info(
                     "Generated colors for colorless point cloud based on `colorless_color`."
                 )
-
         if write_buffer:
             self.create_buffers()
 
@@ -109,6 +107,7 @@ def point_size(self) -> float:
 
     def create_buffers(self) -> None:
         """Create 3 different buffers holding points, colors and label colors information"""
+        self.colors = cast(npt.NDArray[np.float32], self.colors)
         (
             self.position_vbo,
             self.color_vbo,
@@ -126,9 +125,10 @@ def create_buffers(self) -> None:
     @property
     def label_colors(self) -> npt.NDArray[np.float32]:
         """blend the points with label color map"""
+        self.colors = cast(npt.NDArray[np.float32], self.colors)
         if self.labels is not None:
             label_one_hot = np.eye(len(self.label_definition))[self.labels]
-            colors = np.dot(label_one_hot, self.label_color_map).astype(np.float32)
+            colors = np.dot(label_one_hot, self.label_color_map).astype(np.float32)  # type: ignore
             return colors * self.mix_ratio + self.colors * (1 - self.mix_ratio)
         else:
             return self.colors
@@ -149,30 +149,30 @@ def from_file(
             path.suffix
         ).read_point_cloud(path=path)
 
-        labels = label_def = None
+        label_definition = read_label_definition(
+            config.getpath("FILE", "label_folder")
+            / Path(f"schema/label_definition.json")
+        )
+        labels = None
         if cls.SEGMENTATION:
 
             label_path = config.getpath("FILE", "label_folder") / Path(
                 f"segmentation/{path.stem}.bin"
             )
-            label_defintion_path = config.getpath("FILE", "label_folder") / Path(
-                f"segmentation/schema/label_definition.json"
-            )
-
             logging.info(f"Loading segmentation labels from {label_path}.")
             seg_handler = BaseSegmentationHandler.get_handler(label_path.suffix)(
-                label_definition_path=label_defintion_path
+                label_definition=label_definition
             )
-            label_def, labels = seg_handler.read_or_create_labels(
+            labels = seg_handler.read_or_create_labels(
                 label_path=label_path, num_points=points.shape[0]
             )
 
         return cls(
             path,
             points,
+            label_definition,
             colors,
             labels,
-            label_def,
             init_translation,
             init_rotation,
             write_buffer,
@@ -194,13 +194,11 @@ def color_with_label(self) -> bool:
         return config.getboolean("POINTCLOUD", "color_with_label")
 
     @property
-    def int2label(self) -> Optional[Dict[int, str]]:
-        if self.label_definition is not None:
-            return {ind: label for label, ind in self.label_definition.items()}
-        return None
+    def int2label(self) -> Dict[int, str]:
+        return {ind: label for label, ind in self.label_definition.items()}
 
     @property
-    def label_counts(self) -> Optional[Dict[int, int]]:
+    def label_counts(self) -> Optional[Dict[str, int]]:
         if self.labels is not None and self.label_definition:
 
             counter = {k: 0 for k in self.label_definition}

labelCloud/resources/default_config.ini

@@ -19,8 +19,6 @@ std_zoom = 0.0025
 [LABEL]
 ; format for exporting labels. choose from (vertices, centroid_rel, centroid_abs, kitti)
 label_format = centroid_abs
-; list of object classes for autocompletion in the text field
-object_classes = cart, box
 ; default object class for new bounding boxes
 std_object_class = cart
 ; number of decimal places for exporting the bounding box parameter.

labelCloud/resources/interfaces/interface.ui

@@ -893,16 +893,16 @@
            </property>
           </widget>
          </item>
-         <item>
-          <widget class="QLineEdit" name="edit_current_class">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-          </widget>
-         </item>
+          <item>
+              <widget class="QComboBox" name="current_class_dropdown">
+                  <property name="sizePolicy">
+                      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                      </sizepolicy>
+                  </property>
+              </widget>
+          </item>
          <item>
           <widget class="QLabel" name="current_bbox_title">
            <property name="sizePolicy">
@@ -1685,7 +1685,7 @@
   <tabstop>button_pick_bbox</tabstop>
   <tabstop>button_span_bbox</tabstop>
   <tabstop>button_save_label</tabstop>
-  <tabstop>edit_current_class</tabstop>
+  <tabstop>current_class_dropdown</tabstop>
   <tabstop>edit_pos_x</tabstop>
   <tabstop>edit_pos_y</tabstop>
   <tabstop>edit_pos_z</tabstop>