Merge pull request #38 from ch-sa/ch-sa/refactoring

Add modules to improve structure

labelCloud/control/bbox_controller.py

@@ -56,20 +56,14 @@ def __init__(self) -> None:
 
     # GETTERS
     def has_active_bbox(self) -> bool:
-        return 0 <= self.active_bbox_id < self.get_no_of_bboxes()
+        return 0 <= self.active_bbox_id < len(self.bboxes)
 
     def get_active_bbox(self) -> Optional[BBox]:
         if self.has_active_bbox():
             return self.bboxes[self.active_bbox_id]
         else:
             return None
 
-    def get_bboxes(self) -> List[BBox]:
-        return self.bboxes
-
-    def get_no_of_bboxes(self) -> int:
-        return len(self.bboxes)
-
     @has_active_bbox_decorator
     def get_classname(self) -> str:
         return self.get_active_bbox().get_classname()
@@ -96,7 +90,7 @@ def delete_bbox(self, bbox_id: int) -> None:
         if 0 <= bbox_id < len(self.bboxes):
             del self.bboxes[bbox_id]
             if bbox_id == self.active_bbox_id:
-                self.set_active_bbox(self.get_no_of_bboxes() - 1)
+                self.set_active_bbox(len(self.bboxes) - 1)
             else:
                 self.update_label_list()
 

labelCloud/control/controller.py

@@ -76,7 +76,7 @@ def prev_pcd(self) -> None:
     # CONTROL METHODS
     def save(self) -> None:
         """Saves all bounding boxes in the label file."""
-        self.pcd_manager.save_labels_into_file(self.bbox_controller.get_bboxes())
+        self.pcd_manager.save_labels_into_file(self.bbox_controller.bboxes)
 
     def reset(self) -> None:
         """Resets the controllers and bounding boxes from the current screen."""

labelCloud/control/drawing_manager.py

@@ -1,7 +1,8 @@
 from typing import TYPE_CHECKING, Union
 
+from labeling_strategies import BaseLabelingStrategy
+
 from .bbox_controller import BoundingBoxController
-from .drawing_strategies import IDrawingStrategy
 
 if TYPE_CHECKING:
     from view.gui import GUI
@@ -11,20 +12,20 @@ class DrawingManager(object):
     def __init__(self, bbox_controller: BoundingBoxController) -> None:
         self.bbox_controller = bbox_controller
         self.view: Union["GUI", None] = None
-        self.drawing_strategy: Union[IDrawingStrategy, None] = None
+        self.drawing_strategy: Union[BaseLabelingStrategy, None] = None
 
     def set_view(self, view: "GUI") -> None:
         self.view = view
         self.view.glWidget.drawing_mode = self
 
     def is_active(self) -> bool:
-        return isinstance(self.drawing_strategy, IDrawingStrategy)
+        return isinstance(self.drawing_strategy, BaseLabelingStrategy)
 
     def has_preview(self) -> bool:
         if self.is_active():
             return self.drawing_strategy.__class__.PREVIEW
 
-    def set_drawing_strategy(self, strategy: IDrawingStrategy) -> None:
+    def set_drawing_strategy(self, strategy: BaseLabelingStrategy) -> None:
         if self.is_active() and self.drawing_strategy == strategy:
             self.reset()
             print("Deactivated drawing!")

labelCloud/control/label_manager.py

@@ -1,28 +1,31 @@
-import json
 import ntpath
 import os
-from abc import ABC, ABCMeta, abstractmethod
 from typing import List
 
-import numpy as np
+from label_formats import BaseLabelFormat, CentroidFormat, KittiFormat, VerticesFormat
 from model.bbox import BBox
-from utils import math3d
 
 from .config_manager import config
 
 
-def get_label_strategy(export_format: str, label_folder: str) -> "IFormattingInterface":
+def get_label_strategy(export_format: str, label_folder: str) -> "BaseLabelFormat":
     if export_format == "vertices":
-        return VerticesFormat(label_folder)
+        return VerticesFormat(label_folder, LabelManager.EXPORT_PRECISION)
     elif export_format == "centroid_rel":
-        return CentroidFormat(label_folder, relative_rotation=True)
+        return CentroidFormat(
+            label_folder, LabelManager.EXPORT_PRECISION, relative_rotation=True
+        )
     elif export_format == "kitti":
-        return KittiFormat(label_folder, relative_rotation=True)
+        return KittiFormat(
+            label_folder, LabelManager.EXPORT_PRECISION, relative_rotation=True
+        )
     elif export_format != "centroid_abs":
         print(
             f"Unknown export strategy '{export_format}'. Proceeding with default (centroid_abs)!"
         )
-    return CentroidFormat(label_folder, relative_rotation=False)
+    return CentroidFormat(
+        label_folder, LabelManager.EXPORT_PRECISION, relative_rotation=False
+    )
 
 
 class LabelManager(object):
@@ -64,247 +67,3 @@ def export_labels(self, pcd_path: str, bboxes: List[BBox]) -> None:
         pcd_name = ntpath.basename(pcd_path)
         pcd_folder = os.path.dirname(pcd_path)
         self.label_strategy.export_labels(bboxes, pcd_name, pcd_folder, pcd_path)
-
-
-#
-#   FORMAT HELPERS
-#
-
-
-def save_to_label_file(path_to_file, data) -> None:
-    if os.path.isfile(path_to_file):
-        print("File %s already exists, replacing file ..." % path_to_file)
-    if os.path.splitext(path_to_file)[1] == ".json":
-        with open(path_to_file, "w") as write_file:
-            json.dump(data, write_file, indent="\t")
-    else:
-        with open(path_to_file, "w") as write_file:
-            write_file.write(data)
-
-
-def round_dec(x, decimal_places: int = LabelManager.EXPORT_PRECISION) -> List[float]:
-    return np.round(x, decimal_places).tolist()
-
-
-def abs2rel_rotation(abs_rotation: float) -> float:
-    """Convert absolute rotation 0..360° into -pi..+pi from x-Axis.
-
-    :param abs_rotation: Counterclockwise rotation from x-axis around z-axis
-    :return: Relative rotation from x-axis around z-axis
-    """
-    rel_rotation = np.deg2rad(abs_rotation)
-    if rel_rotation > np.pi:
-        rel_rotation = rel_rotation - 2 * np.pi
-    return rel_rotation
-
-
-def rel2abs_rotation(rel_rotation: float) -> float:
-    """Convert relative rotation from -pi..+pi into 0..360° from x-Axis.
-
-    :param rel_rotation: Rotation from x-axis around z-axis
-    :return: Counterclockwise rotation from x-axis around z-axis
-    """
-    abs_rotation = np.rad2deg(rel_rotation)
-    if abs_rotation < 0:
-        abs_rotation = abs_rotation + 360
-    return abs_rotation
-
-
-class IFormattingInterface(object):
-    __metaclass__ = ABCMeta
-
-    def __init__(self, label_folder, relative_rotation=False) -> None:
-        self.label_folder = label_folder
-        print("Set export strategy to %s." % self.__class__.__name__)
-        self.relative_rotation = relative_rotation
-        if relative_rotation:
-            print(
-                "Saving rotations relatively to positve x-axis in radians (-pi..+pi)."
-            )
-        elif self.__class__.__name__ == "VerticesFormat":
-            print("Saving rotations implicitly in the vertices coordinates.")
-        else:
-            print("Saving rotations absolutely to positve x-axis in degrees (0..360°).")
-
-    @abstractmethod
-    def import_labels(self, pcd_name_stripped) -> List[BBox]:
-        raise NotImplementedError
-
-    @abstractmethod
-    def export_labels(self, bboxes, pcd_name, pcd_folder, pcd_path) -> None:
-        raise NotImplementedError
-
-    def update_label_folder(self, new_label_folder) -> None:
-        self.label_folder = new_label_folder
-
-
-class VerticesFormat(IFormattingInterface, ABC):
-    def import_labels(self, pcd_name_stripped) -> List[BBox]:
-        labels = []
-        path_to_label = os.path.join(self.label_folder, pcd_name_stripped + ".json")
-
-        if os.path.isfile(path_to_label):
-            with open(path_to_label, "r") as read_file:
-                data = json.load(read_file)
-
-            for label in data["objects"]:
-                vertices = label["vertices"]
-
-                # Calculate centroid
-                centroid = np.add(
-                    np.subtract(vertices[4], vertices[2]) / 2, vertices[2]
-                )
-
-                # Calculate dimensions
-                length = math3d.vector_length(np.subtract(vertices[0], vertices[3]))
-                width = math3d.vector_length(np.subtract(vertices[0], vertices[1]))
-                height = math3d.vector_length(np.subtract(vertices[0], vertices[4]))
-
-                # Calculate rotations
-                rotations = math3d.vertices2rotations(vertices, centroid)
-
-                bbox = BBox(*centroid, length, width, height)
-                bbox.set_rotations(*rotations)
-                bbox.set_classname(label["name"])
-                labels.append(bbox)
-            print("Imported %s labels from %s." % (len(data["objects"]), path_to_label))
-        return labels
-
-    def export_labels(self, bboxes, pcd_name, pcd_folder, pcd_path) -> None:
-        data = dict()
-        # Header
-        data["folder"] = pcd_folder
-        data["filename"] = pcd_name
-        data["path"] = pcd_path
-
-        # Labels
-        data["objects"] = []
-        for bbox in bboxes:
-            label = dict()
-            label["name"] = bbox.get_classname()
-            label["vertices"] = round_dec(
-                bbox.get_vertices().tolist()
-            )  # ToDo: Add option for axis-aligned vertices
-            data["objects"].append(label)
-
-        path_to_json = os.path.join(
-            self.label_folder, os.path.splitext(pcd_name)[0] + ".json"
-        )
-        save_to_label_file(path_to_json, data)
-        print(
-            "Exported %s labels to %s in %s formatting!"
-            % (len(bboxes), path_to_json, self.__class__.__name__)
-        )
-
-
-class CentroidFormat(IFormattingInterface, ABC):
-    def import_labels(self, pcd_name_stripped) -> List[BBox]:
-        labels = []
-        path_to_label = os.path.join(self.label_folder, pcd_name_stripped + ".json")
-        if os.path.isfile(path_to_label):
-            with open(path_to_label, "r") as read_file:
-                data = json.load(read_file)
-
-            for label in data["objects"]:
-                bbox = BBox(*label["centroid"].values(), *label["dimensions"].values())
-                rotations = label["rotations"].values()
-                if self.relative_rotation:
-                    rotations = map(rel2abs_rotation, rotations)
-                bbox.set_rotations(*rotations)
-                bbox.set_classname(label["name"])
-                labels.append(bbox)
-            print("Imported %s labels from %s." % (len(data["objects"]), path_to_label))
-        return labels
-
-    def export_labels(
-        self, bboxes: List[BBox], pcd_name: str, pcd_folder: str, pcd_path: str
-    ) -> None:
-        data = dict()
-        # Header
-        data["folder"] = pcd_folder
-        data["filename"] = pcd_name
-        data["path"] = pcd_path
-
-        # Labels
-        data["objects"] = []
-        for bbox in bboxes:
-            label = dict()
-            label["name"] = bbox.get_classname()
-            label["centroid"] = {
-                str(axis): round_dec(val)
-                for axis, val in zip(["x", "y", "z"], bbox.get_center())
-            }
-            label["dimensions"] = {
-                str(dim): round_dec(val)
-                for dim, val in zip(
-                    ["length", "width", "height"], bbox.get_dimensions()
-                )
-            }
-            conv_rotations = bbox.get_rotations()
-            if self.relative_rotation:
-                conv_rotations = map(abs2rel_rotation, conv_rotations)
-
-            label["rotations"] = {
-                str(axis): round_dec(angle)
-                for axis, angle in zip(["x", "y", "z"], conv_rotations)
-            }
-            data["objects"].append(label)
-
-        # Save to JSON
-        path_to_json = os.path.join(
-            self.label_folder, os.path.splitext(pcd_name)[0] + ".json"
-        )
-        save_to_label_file(path_to_json, data)
-        print(
-            "Exported %s labels to %s in %s formatting!"
-            % (len(bboxes), path_to_json, self.__class__.__name__)
-        )
-
-
-class KittiFormat(IFormattingInterface, ABC):
-    def import_labels(self, pcd_name_stripped) -> List[BBox]:
-        labels = []
-        path_to_label = os.path.join(self.label_folder, pcd_name_stripped + ".txt")
-        if os.path.isfile(path_to_label):
-            with open(path_to_label, "r") as read_file:
-                label_lines = read_file.readlines()
-
-            for line in label_lines:
-                line_elements = line.split()
-                centroid = [float(v) for v in line_elements[11:14]]
-                dimensions = [float(v) for v in line_elements[8:11]]
-                bbox = BBox(*centroid, *dimensions)
-                bbox.set_rotations(0, 0, rel2abs_rotation(float(line_elements[14])))
-                bbox.set_classname(line_elements[0])
-                labels.append(bbox)
-            print("Imported %s labels from %s." % (len(label_lines), path_to_label))
-        return labels
-
-    def export_labels(
-        self, bboxes: List[BBox], pcd_name: str, pcd_folder: str, pcd_path: str
-    ) -> None:
-        data = str()
-
-        # Labels
-        for bbox in bboxes:
-            obj_type = bbox.get_classname()
-            location = " ".join([str(round_dec(v)) for v in bbox.get_center()])
-            dimensions = " ".join([str(round_dec(v)) for v in bbox.get_dimensions()])
-            rotation_y = round_dec(abs2rel_rotation(bbox.get_z_rotation()))
-
-            data += (
-                " ".join(
-                    [obj_type, "0 0 0 0 0 0 0", dimensions, location, str(rotation_y)]
-                )
-                + "\n"
-            )
-
-        # Save to TXT
-        path_to_txt = os.path.join(
-            self.label_folder, os.path.splitext(pcd_name)[0] + ".txt"
-        )
-        save_to_label_file(path_to_txt, data)
-        print(
-            "Exported %s labels to %s in %s formatting!"
-            % (len(bboxes), path_to_txt, self.__class__.__name__)
-        )

labelCloud/label_formats/__init__.py

@@ -0,0 +1,8 @@
+from .base import (
+    BaseLabelFormat,
+    abs2rel_rotation,
+    rel2abs_rotation,
+)
+from .centroid_format import CentroidFormat
+from .kitti_format import KittiFormat
+from .vertices_format import VerticesFormat