Merge pull request #111 from Visual-Behavior/add-node-api

Augmented tensor: labels renamed by Child + default args when adding one node

aloscene/bounding_boxes_2d.py

@@ -89,7 +89,7 @@ def __new__(
         tensor = super().__new__(cls, x, *args, names=names, **kwargs)
 
         # Add label
-        tensor.add_label("labels", labels, align_dim=["N"], mergeable=True)
+        tensor.add_child("labels", labels, align_dim=["N"], mergeable=True)
 
         if boxes_format not in BoundingBoxes2D.FORMATS:
             raise Exception(
@@ -139,7 +139,7 @@ def append_labels(self, labels: Labels, name: str = None):
         >>> boxes2d.labels["set1"]
         >>> boxes2d.labels["set2"]
         """
-        self._append_label("labels", labels, name)
+        self._append_child("labels", labels, name)
 
     def xcyc(self) -> BoundingBoxes2D:
         """Get a new BoundingBoxes2D Tensor with boxes following this format:
@@ -156,17 +156,17 @@ def xcyc(self) -> BoundingBoxes2D:
             return tensor
         elif tensor.boxes_format == "xyxy":
             # Convert from xyxy to xcyc
-            labels = tensor.drop_labels()
+            labels = tensor.drop_children()
             xcyc_boxes = torch.cat(
                 [tensor[:, :2] + ((tensor[:, 2:] - tensor[:, :2]) / 2), (tensor[:, 2:] - tensor[:, :2])], dim=1
             )
             xcyc_boxes.boxes_format = "xcyc"
-            xcyc_boxes.set_labels(labels)
-            tensor.set_labels(labels)
+            xcyc_boxes.set_children(labels)
+            tensor.set_children(labels)
             return xcyc_boxes
         elif tensor.boxes_format == "yxyx":
             # Convert from yxyx to xcyc
-            labels = tensor.drop_labels()
+            labels = tensor.drop_children()
             tensor = tensor.rename_(None)
             xcyc_boxes = torch.cat(
                 [
@@ -178,8 +178,8 @@ def xcyc(self) -> BoundingBoxes2D:
             tensor.reset_names()
             xcyc_boxes.reset_names()
             xcyc_boxes.boxes_format = "xcyc"
-            xcyc_boxes.set_labels(labels)
-            tensor.set_labels(labels)
+            xcyc_boxes.set_children(labels)
+            tensor.set_children(labels)
             return xcyc_boxes
         else:
             raise Exception(f"BoundingBoxes2D:Do not know mapping from {tensor.boxes_format} to xcyc")
@@ -196,24 +196,24 @@ def xyxy(self) -> BoundingBoxes2D:
         tensor = self.clone()
 
         if tensor.boxes_format == "xcyc":
-            labels = tensor.drop_labels()
+            labels = tensor.drop_children()
             # Convert from xcyc to xyxy
             n_tensor = torch.cat([tensor[:, :2] - (tensor[:, 2:] / 2), tensor[:, :2] + (tensor[:, 2:] / 2)], dim=1,)
             n_tensor.boxes_format = "xyxy"
-            n_tensor.set_labels(labels)
+            n_tensor.set_children(labels)
             return n_tensor
         elif tensor.boxes_format == "xyxy":
             return tensor
         elif tensor.boxes_format == "yxyx":
-            labels = tensor.drop_labels()
+            labels = tensor.drop_children()
             tensor.rename_(None)
             # Convert from yxyx to xyxy
             n_tensor = torch.cat([tensor[:, :2].flip([1]), tensor[:, 2:].flip([1])], dim=1,)
             tensor.reset_names()
             n_tensor.reset_names()
             n_tensor.boxes_format = "xyxy"
-            n_tensor.set_labels(labels)
-            tensor.set_labels(labels)
+            n_tensor.set_children(labels)
+            tensor.set_children(labels)
             return n_tensor
         else:
             raise Exception(f"BoundingBoxes2D:Do not know mapping from {tensor.boxes_format} to xyxy")
@@ -230,7 +230,7 @@ def yxyx(self) -> BoundingBoxes2D:
         tensor = self.clone()
 
         if tensor.boxes_format == "xcyc":
-            labels = tensor.drop_labels()
+            labels = tensor.drop_children()
             tensor.rename_(None)
             # Convert from xcyc to yxyx
             yxyx_boxes = torch.cat(
@@ -243,19 +243,19 @@ def yxyx(self) -> BoundingBoxes2D:
             yxyx_boxes.reset_names()
             tensor.reset_names()
             yxyx_boxes.boxes_format = "yxyx"
-            yxyx_boxes.set_labels(labels)
-            tensor.set_labels(labels)
+            yxyx_boxes.set_children(labels)
+            tensor.set_children(labels)
             return yxyx_boxes
         elif tensor.boxes_format == "xyxy":
-            labels = tensor.drop_labels()
+            labels = tensor.drop_children()
             tensor.rename_(None)
             # Convert from xyxy to yxyx
             yxyx_boxes = torch.cat([tensor[:, :2].flip([1]), tensor[:, 2:].flip([1])], dim=1,)
             yxyx_boxes.reset_names()
             tensor.reset_names()
             yxyx_boxes.boxes_format = "yxyx"
-            yxyx_boxes.set_labels(labels)
-            tensor.set_labels(labels)
+            yxyx_boxes.set_children(labels)
+            tensor.set_children(labels)
             return yxyx_boxes
         elif tensor.boxes_format == "yxyx":
             return tensor

aloscene/bounding_boxes_3d.py

@@ -43,7 +43,7 @@ class BoundingBoxes3D(aloscene.tensors.AugmentedTensor):
     def __new__(cls, x, labels: Union[dict, Labels] = None, names=("N", None), *args, **kwargs):
         tensor = super().__new__(cls, x, *args, names=names, **kwargs)
         assert tensor.shape[-1] == 7
-        tensor.add_label("labels", labels, align_dim=["N"], mergeable=True)
+        tensor.add_child("labels", labels, align_dim=["N"], mergeable=True)
         return tensor
 
     def __init__(self, x, *args, **kwargs):

aloscene/disparity.py

@@ -46,7 +46,7 @@ def __new__(
             x = load_disp(x, png_negate)
             names = ("C", "H", "W")
         tensor = super().__new__(cls, x, *args, names=names, **kwargs)
-        tensor.add_label("occlusion", occlusion, align_dim=["B", "T"], mergeable=True)
+        tensor.add_child("occlusion", occlusion, align_dim=["B", "T"], mergeable=True)
         tensor.add_property("disp_format", disp_format)
         tensor.add_property("camera_side", camera_side)
         return tensor
@@ -65,7 +65,7 @@ def append_occlusion(self, occlusion: Mask, name: str = None):
             If none, the occlusion mask will be attached without name (if possible). Otherwise if no other unnamed
             occlusion mask are attached to the frame, the mask will be added to the set of mask.
         """
-        self._append_label("occlusion", occlusion, name)
+        self._append_child("occlusion", occlusion, name)
 
     def __get_view__(self, min_disp=None, max_disp=None, cmap="nipy_spectral", reverse=False):
         assert all(dim not in self.names for dim in ["B", "T"]), "disparity should not have batch or time dimension"
@@ -99,9 +99,9 @@ def _resize(self, size, **kwargs):
         W_new = disp_resized.W
         # rescale disparity
         sl_x = disp_resized.get_slices({"C": 0})
-        labels = disp_resized.drop_labels()
+        labels = disp_resized.drop_children()
         disp_resized[sl_x] = disp_resized[sl_x] * W_new / W_old
-        disp_resized.set_labels(labels)
+        disp_resized.set_children(labels)
         return disp_resized
 
     def _hflip(self, **kwargs):

aloscene/flow.py

@@ -23,7 +23,7 @@ def __new__(cls, x, occlusion: Mask = None, *args, names=("C", "H", "W"), **kwar
             x = load_flow(x)
             names = ("C", "H", "W")
         tensor = super().__new__(cls, x, *args, names=names, **kwargs)
-        tensor.add_label("occlusion", occlusion, align_dim=["B", "T"], mergeable=True)
+        tensor.add_child("occlusion", occlusion, align_dim=["B", "T"], mergeable=True)
         return tensor
 
     def __init__(self, x, *args, **kwargs):
@@ -40,7 +40,7 @@ def append_occlusion(self, occlusion: Mask, name: str = None):
             If none, the occlusion mask will be attached without name (if possible). Otherwise if no other unnamed
             occlusion mask are attached to the frame, the mask will be added to the set of mask.
         """
-        self._append_label("occlusion", occlusion, name)
+        self._append_child("occlusion", occlusion, name)
 
     def __get_view__(self, clip_flow=None, convert_to_bgr=False, magnitude_max=None):
         assert all(dim not in self.names for dim in ["B", "T"]), "flow should not have batch or time dimension"
@@ -68,10 +68,10 @@ def _resize(self, size, **kwargs):
         # scale flow coordinates because they are expressed in pixel units
         sl_x = flow_resized.get_slices({"C": 0})  # slice for x coord. of flow vector
         sl_y = flow_resized.get_slices({"C": 1})  # slice for y coord. of flow vector
-        labels = flow_resized.drop_labels()
+        labels = flow_resized.drop_children()
         flow_resized[sl_x] = flow_resized[sl_x] * W_new / W_old
         flow_resized[sl_y] = flow_resized[sl_y] * H_new / H_old
-        flow_resized.set_labels(labels)
+        flow_resized.set_children(labels)
         return flow_resized
 
     def _hflip(self, **kwargs):
@@ -84,10 +84,10 @@ def _hflip(self, **kwargs):
         """
         flow_flipped = super()._hflip(**kwargs)
         # invert x axis of flow vector
-        labels = flow_flipped.drop_labels()
+        labels = flow_flipped.drop_children()
         sl_x = flow_flipped.get_slices({"C": 0})
         flow_flipped[sl_x] = -1 * flow_flipped[sl_x]
-        flow_flipped.set_labels(labels)
+        flow_flipped.set_children(labels)
         return flow_flipped
 
     def _vflip(self, **kwargs):
@@ -100,8 +100,8 @@ def _vflip(self, **kwargs):
         """
         flow_flipped = super()._vflip(**kwargs)
         # invert y axis of flow vector
-        labels = flow_flipped.drop_labels()
+        labels = flow_flipped.drop_children()
         sl_y = flow_flipped.get_slices({"C": 1})
         flow_flipped[sl_y] = -1 * flow_flipped[sl_y]
-        flow_flipped.set_labels(labels)
+        flow_flipped.set_children(labels)
         return flow_flipped

aloscene/frame.py

@@ -97,13 +97,13 @@ def __new__(
         tensor = super().__new__(cls, x, *args, names=names, **kwargs)
 
         # Add label
-        tensor.add_label("points2d", points2d, align_dim=["B", "T"], mergeable=False)
-        tensor.add_label("boxes2d", boxes2d, align_dim=["B", "T"], mergeable=False)
-        tensor.add_label("boxes3d", boxes3d, align_dim=["B", "T"], mergeable=False)
-        tensor.add_label("flow", flow, align_dim=["B", "T"], mergeable=False)
-        tensor.add_label("disparity", disparity, align_dim=["B", "T"], mergeable=True)
-        tensor.add_label("segmentation", segmentation, align_dim=["B", "T"], mergeable=False)
-        tensor.add_label("labels", labels, align_dim=["B", "T"], mergeable=True)
+        tensor.add_child("points2d", points2d, align_dim=["B", "T"], mergeable=False)
+        tensor.add_child("boxes2d", boxes2d, align_dim=["B", "T"], mergeable=False)
+        tensor.add_child("boxes3d", boxes3d, align_dim=["B", "T"], mergeable=False)
+        tensor.add_child("flow", flow, align_dim=["B", "T"], mergeable=False)
+        tensor.add_child("disparity", disparity, align_dim=["B", "T"], mergeable=True)
+        tensor.add_child("segmentation", segmentation, align_dim=["B", "T"], mergeable=False)
+        tensor.add_child("labels", labels, align_dim=["B", "T"], mergeable=True)
 
         # Add other tensor property
         tensor.add_property("normalization", normalization)
@@ -147,7 +147,7 @@ def append_labels(self, labels: Labels, name: str = None):
         >> labels = aloscene.Labels([42])
         >> frame.append_labels(labels)
         """
-        self._append_label("labels", labels, name)
+        self._append_child("labels", labels, name)
 
     def append_boxes2d(self, boxes: BoundingBoxes2D, name: str = None):
         """Attach a set of BoundingBoxes2D to the frame.
@@ -172,7 +172,7 @@ def append_boxes2d(self, boxes: BoundingBoxes2D, name: str = None):
         >>> boxes2d = aloscene.BoundingBoxes2D([[0.5, 0.5, 0.5, 0.5]], boxes_format="xcyc", absolute=False)
         >>> frame.append_boxes2d(boxes2d, "boxes_set")
         """
-        self._append_label("boxes2d", boxes, name)
+        self._append_child("boxes2d", boxes, name)
 
     def append_points2d(self, points: Points2D, name: str = None):
         """Attach a set of points to the frame.
@@ -185,7 +185,7 @@ def append_points2d(self, points: Points2D, name: str = None):
             If None, the points will be attached without name (if possible). Otherwise if no other unnamed
             points are attached to the frame, the points will be added to the set of points.
         """
-        self._append_label("points2d", points, name)
+        self._append_child("points2d", points, name)
 
     def append_boxes3d(self, boxes_3d: BoundingBoxes3D, name: str = None):
         """Attach BoundingBoxes3D to the frame
@@ -209,7 +209,7 @@ def append_boxes3d(self, boxes_3d: BoundingBoxes3D, name: str = None):
         >>> We append to boxes3D twice because the frame has a temporal dimension (T=2)
         >>> frame.append_boxes3d([boxes3d, boxes3d], "my_set")
         """
-        self._append_label("boxes3d", boxes_3d, name)
+        self._append_child("boxes3d", boxes_3d, name)
 
     def append_flow(self, flow, name=None):
         """Attach a flow to the frame.
@@ -228,7 +228,7 @@ def append_flow(self, flow, name=None):
         >>> flow = aloscene.Flow(np.zeros((2, frame.H, frame.W)))
         >>> frame.append_flow(flow)
         """
-        self._append_label("flow", flow, name)
+        self._append_child("flow", flow, name)
 
     def append_disparity(self, disparity, name=None):
         """Attach a disparity map to the frame.
@@ -247,7 +247,7 @@ def append_disparity(self, disparity, name=None):
         >>> disparity = aloscene.Disparity(np.zeros((1, frame.H, frame.W)))
         >>> frame.append_disparity(disparity)
         """
-        self._append_label("disparity", disparity, name)
+        self._append_child("disparity", disparity, name)
 
     def append_segmentation(self, segmentation: Mask, name: str = None):
         """Attach a segmentation to the frame.
@@ -261,7 +261,7 @@ def append_segmentation(self, segmentation: Mask, name: str = None):
             If none, the mask will be attached without name (if possible). Otherwise if no other unnamed
             mask are attached to the frame, the mask will be added to the set of mask.
         """
-        self._append_label("segmentation", segmentation, name)
+        self._append_child("segmentation", segmentation, name)
 
     @staticmethod
     def _get_mean_std_tensor(shape, names, mean_std: tuple, device="cpu"):
@@ -485,7 +485,7 @@ def _pad(self, offset_y: tuple, offset_x: tuple, value=0, **kwargs):
 
             # Create a new frame with the same parameters and set back a copy of the previous labels
             n_tensor = type(self)(n_tensor, normalization=self.normalization, mean_std=self.mean_std, names=self.names)
-            n_tensor.set_labels(self.clone().get_labels())
+            n_tensor.set_children(self.clone().get_children())
             return n_tensor
         else:
             raise Exception("This normalziation {} is not handle by the frame _pad method".format(self.normalization))

aloscene/labels.py

@@ -65,7 +65,7 @@ def __new__(
 
         if scores is not None:
             assert scores.shape == tensor.shape
-        tensor.add_label("scores", scores, align_dim=["N"], mergeable=True)
+        tensor.add_child("scores", scores, align_dim=["N"], mergeable=True)
 
         return tensor
 

aloscene/mask.py

@@ -29,7 +29,7 @@ def __new__(cls, x, labels: Union[dict, Labels] = None, *args, **kwargs):
             x = load_mask(x)
             kwargs["names"] = ("N", "H", "W")
         tensor = super().__new__(cls, x, *args, **kwargs)
-        tensor.add_label("labels", labels, align_dim=["N"], mergeable=True)
+        tensor.add_child("labels", labels, align_dim=["N"], mergeable=True)
         return tensor
 
     def append_labels(self, labels: Labels, name: str = None):
@@ -43,7 +43,7 @@ def append_labels(self, labels: Labels, name: str = None):
             If none, the label will be attached without name (if possible). Otherwise if no other unnamed
             labels are attached to the frame, the labels will be added to the set of labels.
         """
-        self._append_label("labels", labels, name)
+        self._append_child("labels", labels, name)
 
     def iou_with(self, mask2) -> torch.Tensor:
         """ IoU calculation between mask2 and itself
@@ -172,7 +172,7 @@ def mask2id(self, labels_set: str = None, return_ann: bool = False, return_cats:
         frame = self.cpu().rename(None).permute([1, 2, 0]).detach().contiguous().numpy()
 
         # Try to retrieve the associated label ID (if any)
-        labels = self._get_set_labels(labels_set=labels_set)
+        labels = self._get_set_children(labels_set=labels_set)
         annotations = []
         if hasattr(self, "labels") and self.labels is not None and len(labels) > 0:
             assert len(labels) == len(self)  # Required to make panoptic view
@@ -201,7 +201,7 @@ def mask2id(self, labels_set: str = None, return_ann: bool = False, return_cats:
             return frame, annotations
         return frame
 
-    def _get_set_labels(self, labels_set: str = None):
+    def _get_set_children(self, labels_set: str = None):
         if not (labels_set is None or isinstance(self.labels, dict)):
             raise Exception(
                 f"Trying to display a set of labels ({labels_set}) while masks do not have multiple set of labels"

aloscene/oriented_boxes_2d.py

@@ -36,7 +36,7 @@ def __new__(
 
         assert x.shape[-1] == 5, "The last dimension should be [x, y, w, h, theta]"
         # Add label
-        tensor.add_label("labels", labels, align_dim=["N"], mergeable=True)
+        tensor.add_child("labels", labels, align_dim=["N"], mergeable=True)
 
         tensor.add_property("absolute", absolute)
         tensor.add_property("frame_size", frame_size)
@@ -64,7 +64,7 @@ def append_labels(self, labels: Labels, name: str = None):
             If none, the label will be attached without name (if possible). Otherwise if no other unnamed
             labels are attached to the frame, the labels will be added to the set of labels.
         """
-        self._append_label("labels", labels, name)
+        self._append_child("labels", labels, name)
 
     def corners(self) -> torch.Tensor:
         """Get corners in x, y coordinates

aloscene/points_2d.py

@@ -99,7 +99,7 @@ def __new__(
         tensor = super().__new__(cls, x, *args, names=names, **kwargs)
 
         # Add label
-        tensor.add_label("labels", labels, align_dim=["N"], mergeable=True)
+        tensor.add_child("labels", labels, align_dim=["N"], mergeable=True)
 
         tensor.add_property("points_format", points_format)
         tensor.add_property("absolute", absolute)
@@ -143,7 +143,7 @@ def append_labels(self, labels: Labels, name: str = None):
         >>> pts2d.labels["set1"]
         >>> pts2d.labels["set2"]
         """
-        self._append_label("labels", labels, name)
+        self._append_child("labels", labels, name)
 
     def xy(self) -> Points2D:
         """Get a new Point2d Tensor with points following this format: