Merge pull request #136 from Visual-Behavior/fixe-pts2d-boxes2d-crop

Fix crop on boxes and pts2d when using absolute position

aloscene/bounding_boxes_2d.py

@@ -702,7 +702,10 @@ def _crop(self, H_crop: tuple, W_crop: tuple, **kwargs):
 
         # Put back the instance into the same state as before
         if absolute:
-            cropped_boxes = cropped_boxes.abs_pos(frame_size)
+            n_frame_size = ((H_crop[1] - H_crop[0]) * frame_size[0], (W_crop[1] - W_crop[0]) * frame_size[1])
+            cropped_boxes = cropped_boxes.abs_pos(n_frame_size)
+        else:
+            cropped_boxes.frame_size = None
 
         cropped_boxes = cropped_boxes.get_with_format(boxes_format)
 

aloscene/points_2d.py

@@ -444,9 +444,10 @@ def _crop(self, H_crop: tuple, W_crop: tuple, **kwargs):
 
         absolute = self.absolute
         frame_size = self.frame_size
+
         points_format = self.points_format
 
-        # Get a new set of bbox
+        # Get a new set of points
         n_points = self.abs_pos((100, 100)).xy()
 
         # Retrieve crop coordinates
@@ -467,7 +468,11 @@ def _crop(self, H_crop: tuple, W_crop: tuple, **kwargs):
 
         # Put back the instance into the same state as before
         if absolute:
-            cropped_points = cropped_points.abs_pos(frame_size)
+            n_frame_size = ((H_crop[1] - H_crop[0]) * frame_size[0], (W_crop[1] - W_crop[0]) * frame_size[1])
+            cropped_points = cropped_points.abs_pos(n_frame_size)
+        else:
+            cropped_points.frame_size = None
+
         cropped_points = cropped_points.get_with_format(points_format)
 
         return cropped_points

unittest/test_boxes.py

@@ -1,8 +1,8 @@
 # from aloscene.renderer import View
 from alodataset import WaymoDataset  # , Split
 import aloscene
-
 import torch
+import numpy as np
 
 waymo_dataset = WaymoDataset(sample=True)
 TEST_FRAME = 0
@@ -375,6 +375,24 @@ def test_boxes_slice():
     assert len(n_frame.boxes2d["gt_boxes_2d"].shape) == 2
 
 
+def test_crop_abs():
+    image = np.zeros((3, 843, 1500))
+    boxes = [[298, 105, 50, 50], [1250, 105, 50, 50], [298, 705, 50, 50], [1250, 705, 50, 50]]
+    frame = aloscene.Frame(image)
+    labels = aloscene.Labels([0, 0, 0, 0], labels_names=["boxes"])
+    boxes = aloscene.BoundingBoxes2D(
+        boxes, boxes_format="xcyc", frame_size=(frame.H, frame.W), absolute=True, labels=labels
+    )
+    frame.append_boxes2d(boxes)
+    # frame.get_view().render()
+    frame = frame.crop(H_crop=(0.0, 0.5), W_crop=(0.0, 0.5))
+    # frame.get_view().render()
+    # frame.get_view().render()
+    assert torch.allclose(frame.boxes2d[0].as_tensor(), boxes[0].as_tensor())
+    assert np.allclose(frame.boxes2d.frame_size[0], frame.HW[0])
+    assert np.allclose(frame.boxes2d.frame_size[1], frame.HW[1])
+
+
 if __name__ == "__main__":
     test_boxes_from_dt()
     test_boxes_rel_xcyc()
@@ -383,5 +401,6 @@ def test_boxes_slice():
     test_boxes_abs_xcyc()
     test_boxes_abs_yxyx()
     test_boxes_abs_xyxy()
-    # test_padded_boxes() # Outdated
+    # test_padded_boxes() Outdated
     test_boxes_slice()
+    test_crop_abs()

unittest/test_points2d.py

@@ -0,0 +1,24 @@
+# from aloscene.renderer import View
+from alodataset import WaymoDataset  # , Split
+import aloscene
+import torch
+import numpy as np
+
+
+def test_crop_abs():
+    image = np.zeros((3, 843, 1500))
+    corners = [[298, 105], [1250, 105], [298, 705], [1250, 705]]
+    frame = aloscene.Frame(image)
+    labels = aloscene.Labels([0, 0, 0, 0], labels_names=["corners"])
+    corners = aloscene.Points2D(
+        corners, points_format="xy", frame_size=(frame.H, frame.W), absolute=True, labels=labels
+    )
+    frame.append_points2d(corners)
+    frame = frame.crop(H_crop=(0.0, 0.5), W_crop=(0.0, 0.5))
+    assert torch.allclose(frame.points2d[0].as_tensor(), corners[0].as_tensor())
+    assert np.allclose(frame.points2d.frame_size[0], frame.HW[0])
+    assert np.allclose(frame.points2d.frame_size[1], frame.HW[1])
+
+
+if __name__ == "__main__":
+    test_crop_abs()