From 190b82c42bc7347f7ec5b8519794ea6c26ed6243 Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Mon, 17 Apr 2023 18:01:45 -0700 Subject: [PATCH 01/41] Update `Instance`s across views in `RecordingSession` --- sleap/gui/app.py | 16 +++++++++++- sleap/instance.py | 14 ++++++++++ sleap/io/cameras.py | 63 ++++++++++++++++++++++++++++++++++++++++----- 3 files changed, 86 insertions(+), 7 deletions(-) diff --git a/sleap/gui/app.py b/sleap/gui/app.py index 852493a06..eda54a709 100644 --- a/sleap/gui/app.py +++ b/sleap/gui/app.py @@ -1208,8 +1208,22 @@ def plotFrame(self, *args, **kwargs): def _after_plot_update(self, frame_idx): """Run after plot is updated, but stay on same frame.""" + + video = self.state["video"] + instance = self.state["selected_instance"] + + # Redraw trails overlay: TrackTrailOverlay = self.overlays["trails"] - overlay.redraw(self.state["video"], frame_idx) + overlay.redraw(video, frame_idx) + + # Replot connected views for multi-camera projects + session = self.labels.get_session(video) + if session is not None: + track = instance.track + session.update_views( + frame_idx, + track, + ) def _after_plot_change(self, player, frame_idx, selected_inst): """Called each time a new frame is drawn.""" diff --git a/sleap/instance.py b/sleap/instance.py index c14038552..9ff0872b5 100644 --- a/sleap/instance.py +++ b/sleap/instance.py @@ -720,6 +720,20 @@ def points(self) -> Tuple[Point, ...]: self._fix_array() return tuple(point for point in self._points if not point.isnan()) + def update_points(self, points: np.ndarray): + """Update the points in this instance from a numpy. + + Args: + points: The new points to update to. + """ + points_dict = dict() + for point, node_name in zip(points, self.skeleton.node_names): + if np.isnan(point).any(): + continue + + points_dict[node_name] = Point(x=point[0], y=point[1]) + Instance._points_dict_to_array(points_dict, self._points, self.skeleton) + def _fix_array(self): """Fix PointArray after nodes have been added or removed. diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 89f6b882d..df75dcc40 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -1,21 +1,22 @@ """Module for storing information for camera groups.""" import logging -from pathlib import Path import tempfile -import cattr import toml + +import cattr +import numpy as np + +from pathlib import Path from typing import List, Optional, Union, Iterator, Any, Dict, Tuple from aniposelib.cameras import Camera, FisheyeCamera, CameraGroup from attrs import define, field from attrs.validators import deep_iterable, instance_of -import numpy as np - - -from sleap.util import deep_iterable_converter +from sleap_anipose import triangulate, reproject # from sleap.io.dataset import Labels # TODO(LM): Circular import, implement Observer from sleap.io.video import Video +from sleap.util import deep_iterable_converter logger = logging.getLogger(__name__) @@ -538,6 +539,56 @@ def remove_video(self, video: Video): if self.labels is not None and self.labels.get_session(video) is not None: self.labels.remove_session_video(self, video) + def update_views( + self, + frame_idx: int, + track: Optional["Track"] = None, + cams_to_include: Optional[List[int]] = None, + ): + """Update the views of the `RecordingSession`. + + Args: + frame_idx: Frame index to update (0-indexed). + track: `Track` object used to find instances accross views for updating. + cams_to_include: List of views by indices in `self.camera_cluster.cameras` (0-indexed). + """ + + # TODO(LM): Add support for taking in `cams_to_include` to use for triangulation + + # Get all views at this frame index + views: List["LabeledFrame"] = [] + for video in self.videos: + lfs = self.labels.get((video, [frame_idx])) + if len(lfs) > 0: + views.append(lfs[0]) + + # If no views, then return + if len(views) <= 1: + logger.warning( + "One or less views found for frame " + f"{frame_idx} in {self.camera_cluster}." + ) + return + + # Find all instance accross all views + instances: List["Instances"] = [] + for lf in views: + insts = lf.find(track=track, user=True) + if len(insts) > 0: + instances.append(insts[0]) + + # Gather instances into M x N x 2 arrays (M = # views, N = # nodes, 2 = x, y) + inst_coords = np.concatenate([inst.numpy() for inst in instances], axis=0) + points_3d = triangulate(p2d=inst_coords, calib=self.camera_cluster) + + # Update the views with the new 3D points + inst_coords_reprojected = reproject(points_3d, calib=self.camera_cluster) + inst_coords_reprojected = np.split( + inst_coords_reprojected, inst_coords_reprojected.shape[0], axis=0 + ) + for inst, inst_coord in zip(instances, inst_coords_reprojected): + inst.update_points(inst_coord) + def __attrs_post_init__(self): self.camera_cluster.add_session(self) From 4aa285b6d13b3b4dfe09a06dea79a87a154be370 Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Tue, 18 Apr 2023 17:21:47 -0700 Subject: [PATCH 02/41] Fix-up implementation while manually testing --- sleap/gui/app.py | 4 ++-- sleap/instance.py | 4 +++- sleap/io/cameras.py | 27 +++++++++++++++++---------- 3 files changed, 22 insertions(+), 13 deletions(-) diff --git a/sleap/gui/app.py b/sleap/gui/app.py index eda54a709..352d91395 100644 --- a/sleap/gui/app.py +++ b/sleap/gui/app.py @@ -1210,7 +1210,7 @@ def _after_plot_update(self, frame_idx): """Run after plot is updated, but stay on same frame.""" video = self.state["video"] - instance = self.state["selected_instance"] + instance = self.state["instance"] # Redraw trails overlay: TrackTrailOverlay = self.overlays["trails"] @@ -1218,7 +1218,7 @@ def _after_plot_update(self, frame_idx): # Replot connected views for multi-camera projects session = self.labels.get_session(video) - if session is not None: + if session is not None and instance is not None: track = instance.track session.update_views( frame_idx, diff --git a/sleap/instance.py b/sleap/instance.py index 9ff0872b5..354eaaff3 100644 --- a/sleap/instance.py +++ b/sleap/instance.py @@ -1394,7 +1394,9 @@ def find( Returns: List of instances. """ - instances = self.instances + instances = sorted( + self.instances, key=lambda inst: isinstance(inst, PredictedInstance) + ) # Sort with PredictedInstances last if user: instances = list(filter(lambda inst: type(inst) == Instance, instances)) if track != -1: # use -1 since we want to accept None as possible value diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index df75dcc40..4c5b43150 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -558,9 +558,13 @@ def update_views( # Get all views at this frame index views: List["LabeledFrame"] = [] for video in self.videos: - lfs = self.labels.get((video, [frame_idx])) - if len(lfs) > 0: - views.append(lfs[0]) + lfs: List["LabeledFrame"] = self.labels.get((video, [frame_idx])) + if len(lfs) == 0: + continue + + lf = lfs[0] + if len(lf.instances) > 0: + views.append(lf) # If no views, then return if len(views) <= 1: @@ -573,21 +577,24 @@ def update_views( # Find all instance accross all views instances: List["Instances"] = [] for lf in views: - insts = lf.find(track=track, user=True) + insts = lf.find(track=track) if len(insts) > 0: instances.append(insts[0]) - # Gather instances into M x N x 2 arrays (M = # views, N = # nodes, 2 = x, y) - inst_coords = np.concatenate([inst.numpy() for inst in instances], axis=0) + # Gather instances into M x F x T x N x 2 arrays + # (M = # views, F = # frames = 1, T = # tracks = 1, N = # nodes, 2 = x, y) + inst_coords = np.stack([inst.numpy() for inst in instances], axis=0) + inst_coords = np.expand_dims(inst_coords, axis=1) + inst_coords = np.expand_dims(inst_coords, axis=1) points_3d = triangulate(p2d=inst_coords, calib=self.camera_cluster) # Update the views with the new 3D points inst_coords_reprojected = reproject(points_3d, calib=self.camera_cluster) - inst_coords_reprojected = np.split( - inst_coords_reprojected, inst_coords_reprojected.shape[0], axis=0 + insts_coords_list: List[np.ndarray] = np.split( + inst_coords_reprojected.squeeze(), inst_coords_reprojected.shape[0], axis=0 ) - for inst, inst_coord in zip(instances, inst_coords_reprojected): - inst.update_points(inst_coord) + for inst, inst_coord in zip(instances, insts_coords_list): + inst.update_points(inst_coord[0]) # inst_coord is (1, N, 2) def __attrs_post_init__(self): self.camera_cluster.add_session(self) From 7754a660211df880bccc82b2f619eb45596e250a Mon Sep 17 00:00:00 2001 From: Liezl Maree <38435167+roomrys@users.noreply.github.com> Date: Wed, 19 Apr 2023 12:15:23 -0700 Subject: [PATCH 03/41] Only update incomplete points --- sleap/gui/app.py | 5 +++++ sleap/instance.py | 13 +++++++------ sleap/io/cameras.py | 2 +- 3 files changed, 13 insertions(+), 7 deletions(-) diff --git a/sleap/gui/app.py b/sleap/gui/app.py index 352d91395..f75dbdf90 100644 --- a/sleap/gui/app.py +++ b/sleap/gui/app.py @@ -1225,6 +1225,11 @@ def _after_plot_update(self, frame_idx): track, ) + # TODO(LM): Move this to a dock for replotting on demand + # Replot instance nodes (but keep same QtInstance) + for inst in self.player.view.instances: + inst.updatePoints(complete=False, user_change=False) + def _after_plot_change(self, player, frame_idx, selected_inst): """Called each time a new frame is drawn.""" diff --git a/sleap/instance.py b/sleap/instance.py index 354eaaff3..51583a008 100644 --- a/sleap/instance.py +++ b/sleap/instance.py @@ -720,19 +720,20 @@ def points(self) -> Tuple[Point, ...]: self._fix_array() return tuple(point for point in self._points if not point.isnan()) - def update_points(self, points: np.ndarray): + def update_points(self, points: np.ndarray, exclude_complete: bool = False): """Update the points in this instance from a numpy. Args: points: The new points to update to. + exclude_complete: Whether to update points where Point.complete is True """ points_dict = dict() - for point, node_name in zip(points, self.skeleton.node_names): - if np.isnan(point).any(): + for point_new, points_old, node_name in zip(points, self._points, self.skeleton.node_names): + if np.isnan(point_new).any() or (exclude_complete and points_old.complete): continue - - points_dict[node_name] = Point(x=point[0], y=point[1]) - Instance._points_dict_to_array(points_dict, self._points, self.skeleton) + points_dict[node_name] = Point(x=point_new[0], y=point_new[1]) + if len(points_dict) > 0: + Instance._points_dict_to_array(points_dict, self._points, self.skeleton) def _fix_array(self): """Fix PointArray after nodes have been added or removed. diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 4c5b43150..d0386d7c6 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -594,7 +594,7 @@ def update_views( inst_coords_reprojected.squeeze(), inst_coords_reprojected.shape[0], axis=0 ) for inst, inst_coord in zip(instances, insts_coords_list): - inst.update_points(inst_coord[0]) # inst_coord is (1, N, 2) + inst.update_points(inst_coord[0], exclude_complete=True) # inst_coord is (1, N, 2) def __attrs_post_init__(self): self.camera_cluster.add_session(self) From 4dca8beccfab32d58c28927c62403f45cf008819 Mon Sep 17 00:00:00 2001 From: Liezl Maree <38435167+roomrys@users.noreply.github.com> Date: Wed, 19 Apr 2023 13:25:40 -0700 Subject: [PATCH 04/41] Lint --- sleap/instance.py | 4 +++- sleap/io/cameras.py | 4 +++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/sleap/instance.py b/sleap/instance.py index 51583a008..3856a1566 100644 --- a/sleap/instance.py +++ b/sleap/instance.py @@ -728,7 +728,9 @@ def update_points(self, points: np.ndarray, exclude_complete: bool = False): exclude_complete: Whether to update points where Point.complete is True """ points_dict = dict() - for point_new, points_old, node_name in zip(points, self._points, self.skeleton.node_names): + for point_new, points_old, node_name in zip( + points, self._points, self.skeleton.node_names + ): if np.isnan(point_new).any() or (exclude_complete and points_old.complete): continue points_dict[node_name] = Point(x=point_new[0], y=point_new[1]) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index d0386d7c6..da7a0abfb 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -594,7 +594,9 @@ def update_views( inst_coords_reprojected.squeeze(), inst_coords_reprojected.shape[0], axis=0 ) for inst, inst_coord in zip(instances, insts_coords_list): - inst.update_points(inst_coord[0], exclude_complete=True) # inst_coord is (1, N, 2) + inst.update_points( + inst_coord[0], exclude_complete=True + ) # inst_coord is (1, N, 2) def __attrs_post_init__(self): self.camera_cluster.add_session(self) From 280d48e8d800cdc4c56a3f17412108cc57785667 Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Fri, 29 Sep 2023 12:06:23 -0700 Subject: [PATCH 05/41] Modularize the `RecordingSessions.update_views` function --- sleap/io/cameras.py | 72 +++++++++++++++++++++++++++++++++++++-------- 1 file changed, 59 insertions(+), 13 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 13ecb3af4..764d02f5d 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -550,24 +550,23 @@ def remove_video(self, video: Video): if self.labels is not None and self.labels.get_session(video) is not None: self.labels.remove_session_video(self, video) - def update_views( - self, - frame_idx: int, - track: Optional["Track"] = None, - cams_to_include: Optional[List[int]] = None, - ): - """Update the views of the `RecordingSession`. + def get_instances_accross_views( + self, frame_idx: int, track: Optional["Track"] = None + ) -> List["LabeledFrame"]: + """Get all `Instances` accross all views at a given frame index. Args: - frame_idx: Frame index to update (0-indexed). - track: `Track` object used to find instances accross views for updating. - cams_to_include: List of views by indices in `self.camera_cluster.cameras` (0-indexed). + frame_idx: Frame index to get instances from (0-indexed). + track: `Track` object used to find instances accross views. + + Returns: + List of `Instances` objects. """ - # TODO(LM): Add support for taking in `cams_to_include` to use for triangulation + views: List["LabeledFrame"] = [] + instances: List["Instances"] = [] # Get all views at this frame index - views: List["LabeledFrame"] = [] for video in self.videos: lfs: List["LabeledFrame"] = self.labels.get((video, [frame_idx])) if len(lfs) == 0: @@ -583,7 +582,7 @@ def update_views( "One or less views found for frame " f"{frame_idx} in {self.camera_cluster}." ) - return + return instances # Find all instance accross all views instances: List["Instances"] = [] @@ -592,6 +591,19 @@ def update_views( if len(insts) > 0: instances.append(insts[0]) + return instances + + def calculate_reprojected_points(self, instances: List["Instances"]): + """Triangulate and reproject instance coordinates. + + Args: + instances: List of `Instances` objects. + + Returns: + List of reprojected instance coordinates. Each element in the list is a + numpy array of shape (1, N, 2) where N is the number of nodes. + """ + # Gather instances into M x F x T x N x 2 arrays # (M = # views, F = # frames = 1, T = # tracks = 1, N = # nodes, 2 = x, y) inst_coords = np.stack([inst.numpy() for inst in instances], axis=0) @@ -604,6 +616,40 @@ def update_views( insts_coords_list: List[np.ndarray] = np.split( inst_coords_reprojected.squeeze(), inst_coords_reprojected.shape[0], axis=0 ) + + return insts_coords_list + + def update_views( + self, + frame_idx: int, + track: Optional["Track"] = None, + cams_to_include: Optional[List[int]] = None, + ): + """Update the views of the `RecordingSession`. + + Args: + frame_idx: Frame index to update (0-indexed). + track: `Track` object used to find instances accross views for updating. + cams_to_include: List of views by indices in `self.camera_cluster.cameras` (0-indexed). + """ + + # TODO(LM): Add support for taking in `cams_to_include` to use for triangulation + + # Get all views at this frame index + instances = self.get_instances_accross_views(frame_idx, track=track) + + # If no instances, then return + if len(instances) <= 1: + logger.warning( + "One or less instances found for frame " + f"{frame_idx} in {self.camera_cluster}." + ) + return + + # Triangulate, reproject, and update coordinates + insts_coords_list: List[np.ndarray] = self.calculate_reprojected_points( + instances + ) for inst, inst_coord in zip(instances, insts_coords_list): inst.update_points( inst_coord[0], exclude_complete=True From 9559da7a9a6c2636dd462e9e6524e7ad6715571b Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Fri, 29 Sep 2023 12:12:26 -0700 Subject: [PATCH 06/41] Add more informative message to `RecordingSession.update_views` --- sleap/io/cameras.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 764d02f5d..c0bcfec37 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -631,6 +631,9 @@ def update_views( frame_idx: Frame index to update (0-indexed). track: `Track` object used to find instances accross views for updating. cams_to_include: List of views by indices in `self.camera_cluster.cameras` (0-indexed). + + Returns: + None """ # TODO(LM): Add support for taking in `cams_to_include` to use for triangulation @@ -642,7 +645,9 @@ def update_views( if len(instances) <= 1: logger.warning( "One or less instances found for frame " - f"{frame_idx} in {self.camera_cluster}." + f"{frame_idx} in {self.camera_cluster}. " + "Multiple instances accross multiple views needed to triangulate. " + "Skipping traingulation and reprojection." ) return From 45b847581bd62c5f3e4fc458626f36c9f8e9f3ed Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Fri, 29 Sep 2023 12:47:51 -0700 Subject: [PATCH 07/41] Add `require_multiple_views` parameter to `RecordingSession.get_instances_accross_views` --- sleap/io/cameras.py | 64 ++++++++++++++++++++++++++++++++++++++------- 1 file changed, 55 insertions(+), 9 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index c0bcfec37..a94411066 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -550,14 +550,45 @@ def remove_video(self, video: Video): if self.labels is not None and self.labels.get_session(video) is not None: self.labels.remove_session_video(self, video) + def get_videos_from_selected_cameras( + self, cams_to_include: Optional[List[Camcorder]] = None + ) -> List[Video]: + """Get all `Video`s from selected `Camcorder`s. + + Args: + cams_to_include: List of `Camcorder`s to include. Defualt is all. + + Returns: + List of `Video`s. + """ + + # If no `Camcorder`s specified, then return all videos in session + if cams_to_include is None: + return self.videos + + # Get all videos from selected `Camcorder`s + videos: List[Video] = [] + for cam in cams_to_include: + video = self.get_video(cam) + if video is not None: + videos.append(video) + + return videos + def get_instances_accross_views( - self, frame_idx: int, track: Optional["Track"] = None + self, + frame_idx: int, + cams_to_include: Optional[List[Camcorder]] = None, + track: Optional["Track"] = None, + require_multiple_views: bool = False, ) -> List["LabeledFrame"]: """Get all `Instances` accross all views at a given frame index. Args: frame_idx: Frame index to get instances from (0-indexed). - track: `Track` object used to find instances accross views. + cams_to_include: List of `Camcorder`s to include. Default is all. + track: `Track` object used to find instances accross views. Default is None. + require_multiple_views: If True, then raise error if only one view is found. Returns: List of `Instances` objects. @@ -565,9 +596,10 @@ def get_instances_accross_views( views: List["LabeledFrame"] = [] instances: List["Instances"] = [] + videos = self.get_videos_from_selected_cameras(cams_to_include=cams_to_include) # Get all views at this frame index - for video in self.videos: + for video in videos: lfs: List["LabeledFrame"] = self.labels.get((video, [frame_idx])) if len(lfs) == 0: continue @@ -577,7 +609,7 @@ def get_instances_accross_views( views.append(lf) # If no views, then return - if len(views) <= 1: + if len(views) <= 1 and require_multiple_views: logger.warning( "One or less views found for frame " f"{frame_idx} in {self.camera_cluster}." @@ -622,24 +654,38 @@ def calculate_reprojected_points(self, instances: List["Instances"]): def update_views( self, frame_idx: int, + cams_to_include: Optional[List[Camcorder]] = None, track: Optional["Track"] = None, - cams_to_include: Optional[List[int]] = None, ): """Update the views of the `RecordingSession`. Args: frame_idx: Frame index to update (0-indexed). + cams_to_include: List of `Camcorder`s to include. Default is all. track: `Track` object used to find instances accross views for updating. - cams_to_include: List of views by indices in `self.camera_cluster.cameras` (0-indexed). Returns: None """ - # TODO(LM): Add support for taking in `cams_to_include` to use for triangulation + # If not enough `Camcorder`s available/specified, then return + if (cams_to_include is not None and len(cams_to_include) <= 1) or ( + len(self.videos) <= 1 + ): + logger.warning( + "One or less cameras available. " + "Multiple cameras needed to triangulate. " + "Skipping triangulation and reprojection." + ) + return # Get all views at this frame index - instances = self.get_instances_accross_views(frame_idx, track=track) + instances = self.get_instances_accross_views( + frame_idx, + cams_to_include=cams_to_include, + track=track, + require_multiple_views=True, + ) # If no instances, then return if len(instances) <= 1: @@ -647,7 +693,7 @@ def update_views( "One or less instances found for frame " f"{frame_idx} in {self.camera_cluster}. " "Multiple instances accross multiple views needed to triangulate. " - "Skipping traingulation and reprojection." + "Skipping triangulation and reprojection." ) return From ba2df8816456e8bba85ab41dfdabfd83c41be113 Mon Sep 17 00:00:00 2001 From: Liezl Maree <38435167+roomrys@users.noreply.github.com> Date: Fri, 29 Sep 2023 16:22:32 -0400 Subject: [PATCH 08/41] (4->3) Fix (de)serialization of `RecordingSession` and add Multiview Fixture (#1281) * Fix (de)serialization of `RecordingSession` * Remove tracks from multiview dataset * Replace `RecordingSession` test data * Add `RecordingSession` to test set and adapt fixture --- sleap/io/cameras.py | 11 +-- sleap/io/dataset.py | 1 + sleap/io/format/hdf5.py | 6 +- .../cameras/minimal_session/calibration.toml | 68 +++++++++++++----- .../cameras/minimal_session/min_session.slp | Bin 0 -> 44606 bytes tests/data/videos/min_session_back.mp4 | Bin 0 -> 221138 bytes tests/data/videos/min_session_backL.mp4 | Bin 0 -> 246580 bytes tests/data/videos/min_session_mid.mp4 | Bin 0 -> 224537 bytes tests/data/videos/min_session_midL.mp4 | Bin 0 -> 315885 bytes tests/data/videos/min_session_side.mp4 | Bin 0 -> 217276 bytes tests/data/videos/min_session_sideL.mp4 | Bin 0 -> 221306 bytes tests/data/videos/min_session_top.mp4 | Bin 0 -> 246081 bytes tests/data/videos/min_session_topL.mp4 | Bin 0 -> 257345 bytes tests/fixtures/datasets.py | 8 +++ tests/io/test_cameras.py | 7 +- tests/io/test_dataset.py | 13 +++- 16 files changed, 85 insertions(+), 29 deletions(-) create mode 100644 tests/data/cameras/minimal_session/min_session.slp create mode 100644 tests/data/videos/min_session_back.mp4 create mode 100644 tests/data/videos/min_session_backL.mp4 create mode 100644 tests/data/videos/min_session_mid.mp4 create mode 100644 tests/data/videos/min_session_midL.mp4 create mode 100644 tests/data/videos/min_session_side.mp4 create mode 100644 tests/data/videos/min_session_sideL.mp4 create mode 100644 tests/data/videos/min_session_top.mp4 create mode 100644 tests/data/videos/min_session_topL.mp4 diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index a94411066..66537cb6c 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -760,7 +760,10 @@ def __getitem__( ) def __repr__(self): - return f"{self.__class__.__name__}(camera_cluster={self.camera_cluster})" + return ( + f"{self.__class__.__name__}(videos:{len(self.videos)}," + f"camera_cluster={self.camera_cluster})" + ) @classmethod def load( @@ -825,7 +828,7 @@ def to_session_dict(self, video_to_idx: Dict[Video, int]) -> dict: video_idx = video_to_idx.get(video, None) if video_idx is not None: - camcorder_to_video_idx_map[cam_idx] = video_idx + camcorder_to_video_idx_map[str(cam_idx)] = str(video_idx) else: logger.warning( f"Video {video} not found in `Labels.videos`. " @@ -861,8 +864,8 @@ def from_session_dict( # Retrieve all `Camcorder` and `Video` objects, then add to `RecordingSession` camcorder_to_video_idx_map = session_dict["camcorder_to_video_idx_map"] for cam_idx, video_idx in camcorder_to_video_idx_map.items(): - camcorder = session.camera_cluster.cameras[cam_idx] - video = videos_list[video_idx] + camcorder = session.camera_cluster.cameras[int(cam_idx)] + video = videos_list[int(video_idx)] session.add_video(video, camcorder) return session diff --git a/sleap/io/dataset.py b/sleap/io/dataset.py index cc3090714..1221cadae 100644 --- a/sleap/io/dataset.py +++ b/sleap/io/dataset.py @@ -671,6 +671,7 @@ def __repr__(self) -> str: "Labels(" f"labeled_frames={len(self.labeled_frames)}, " f"videos={len(self.videos)}, " + f"sessions={len(self.sessions)}, " f"skeletons={len(self.skeletons)}, " f"tracks={len(self.tracks)}" ")" diff --git a/sleap/io/format/hdf5.py b/sleap/io/format/hdf5.py index 353f88e3a..c2014a221 100644 --- a/sleap/io/format/hdf5.py +++ b/sleap/io/format/hdf5.py @@ -85,7 +85,7 @@ def read_headers( # These items are stored in separate lists because the metadata group got to be # too big. - for key in ("videos", "tracks", "suggestions"): + for key in ("videos", "tracks", "suggestions", "sessions"): hdf5_key = f"{key}_json" if hdf5_key in f: items = [json_loads(item_json) for item_json in f[hdf5_key]] @@ -325,7 +325,7 @@ def append_unique(old, new): if not append: # These items are stored in separate lists because the metadata # group got to be too big. - for key in ("videos", "tracks", "suggestions"): + for key in ("videos", "tracks", "suggestions", "sessions"): # Convert for saving in hdf5 dataset data = [np.string_(json_dumps(item)) for item in d[key]] @@ -341,7 +341,7 @@ def append_unique(old, new): meta_group.attrs["json"] = np.string_(json_dumps(d)) # FIXME: We can probably construct these from attrs fields - # We will store Instances and PredcitedInstances in the same + # We will store Instances and PredictedInstances in the same # table. instance_type=0 or Instance and instance_type=1 for # PredictedInstance, score will be ignored for Instances. instance_dtype = np.dtype( diff --git a/tests/data/cameras/minimal_session/calibration.toml b/tests/data/cameras/minimal_session/calibration.toml index a55fba1be..d80c1d088 100644 --- a/tests/data/cameras/minimal_session/calibration.toml +++ b/tests/data/cameras/minimal_session/calibration.toml @@ -1,33 +1,65 @@ [cam_0] name = "back" size = [ 1280, 1024,] -matrix = [ [ 769.8864926727645, 0.0, 639.5,], [ 0.0, 769.8864926727645, 511.5,], [ 0.0, 0.0, 1.0,],] -distortions = [ -0.2853406116327607, 0.0, 0.0, 0.0, 0.0,] -rotation = [ -0.01620434170631696, 0.00243953661952865, -0.0008482754607133058,] -translation = [ 0.11101046010648573, -5.942766688873288, -122.27936818948484,] +matrix = [ [ 762.513822135494, 0.0, 639.5,], [ 0.0, 762.513822135494, 511.5,], [ 0.0, 0.0, 1.0,],] +distortions = [ -0.2868458380166852, 0.0, 0.0, 0.0, 0.0,] +rotation = [ 0.3571857188780474, 0.8879473292757126, 1.6832001677006176,] +translation = [ -555.4577842902744, -294.43494957092884, -190.82196458369515,] [cam_1] -name = "mid" +name = "backL" size = [ 1280, 1024,] -matrix = [ [ 759.1049091821777, 0.0, 639.5,], [ 0.0, 759.1049091821777, 511.5,], [ 0.0, 0.0, 1.0,],] -distortions = [ -0.3019598217075406, 0.0, 0.0, 0.0, 0.0,] -rotation = [ -0.5899610967415617, -1.4541149329590473, -2.6096557771132054,] -translation = [ -117.01279148208383, -335.68277970969496, 87.84524145188074,] +matrix = [ [ 817.6484736604496, 0.0, 639.5,], [ 0.0, 817.6484736604496, 511.5,], [ 0.0, 0.0, 1.0,],] +distortions = [ -0.33100176822475913, 0.0, 0.0, 0.0, 0.0,] +rotation = [ -0.026283027462693898, -0.010379556518966196, -0.027099257463872917,] +translation = [ 9.862823625864475, -26.76921192059893, -434.1389532578435,] [cam_2] -name = "side" +name = "mid" size = [ 1280, 1024,] -matrix = [ [ 964.7203950924776, 0.0, 639.5,], [ 0.0, 964.7203950924776, 511.5,], [ 0.0, 0.0, 1.0,],] -distortions = [ -0.2939343017698909, 0.0, 0.0, 0.0, 0.0,] -rotation = [ 0.5133644577490065, 0.4933577839393885, 2.712950645410121,] -translation = [ -137.65379909555472, -91.75965072441964, -19.01274966036669,] +matrix = [ [ 757.8876636778425, 0.0, 639.5,], [ 0.0, 757.8876636778425, 511.5,], [ 0.0, 0.0, 1.0,],] +distortions = [ -0.28903872836928324, 0.0, 0.0, 0.0, 0.0,] +rotation = [ -0.37194922755270515, -0.4001867844465869, -1.0086626457565362,] +translation = [ 170.36246990443806, -465.67014395255075, -308.4662718040283,] [cam_3] +name = "midL" +size = [ 1280, 1024,] +matrix = [ [ 865.1641815534884, 0.0, 639.5,], [ 0.0, 865.1641815534884, 511.5,], [ 0.0, 0.0, 1.0,],] +distortions = [ -0.36452920053871213, 0.0, 0.0, 0.0, 0.0,] +rotation = [ 0.05817434916890774, -1.054534889033804, -2.7344311787180726,] +translation = [ 64.84029309392507, -664.6153475753681, -175.7828934255145,] + +[cam_4] +name = "side" +size = [ 1280, 1024,] +matrix = [ [ 754.7093944045533, 0.0, 639.5,], [ 0.0, 754.7093944045533, 511.5,], [ 0.0, 0.0, 1.0,],] +distortions = [ -0.2952746154319528, 0.0, 0.0, 0.0, 0.0,] +rotation = [ -0.8648522139486137, -1.1788453690264329, -1.0219549009876152,] +translation = [ 260.9490547859552, -1027.1241968566128, 279.38287656265214,] + +[cam_5] +name = "sideL" +size = [ 1280, 1024,] +matrix = [ [ 754.8402306632529, 0.0, 639.5,], [ 0.0, 754.8402306632529, 511.5,], [ 0.0, 0.0, 1.0,],] +distortions = [ -0.28917397473074263, 0.0, 0.0, 0.0, 0.0,] +rotation = [ -0.7375958632452171, -1.5393315718217462, -1.3307245772011242,] +translation = [ 254.07566513275054, -1043.3222053681916, 408.2123665768046,] + +[cam_6] name = "top" size = [ 1280, 1024,] -matrix = [ [ 964.7203950924776, 0.0, 639.5,], [ 0.0, 964.7203950924776, 511.5,], [ 0.0, 0.0, 1.0,],] -distortions = [ -0.2939343017698909, 0.0, 0.0, 0.0, 0.0,] -rotation = [ 0.5133644577490065, 0.4933577839393885, 2.712950645410121,] -translation = [ -137.65379909555472, -91.75965072441964, -19.01274966036669,] +matrix = [ [ 958.8409001521982, 0.0, 639.5,], [ 0.0, 958.8409001521982, 511.5,], [ 0.0, 0.0, 1.0,],] +distortions = [ -0.2883038721040841, 0.0, 0.0, 0.0, 0.0,] +rotation = [ 0.14923195260261604, -0.35651045266677683, -1.571999724050101,] +translation = [ 320.58744336418937, -113.31460508230508, -298.24659146410477,] + +[cam_7] +name = "topL" +size = [ 1280, 1024,] +matrix = [ [ 860.8004120100271, 0.0, 639.5,], [ 0.0, 860.8004120100271, 511.5,], [ 0.0, 0.0, 1.0,],] +distortions = [ -0.34378860528857375, 0.0, 0.0, 0.0, 0.0,] +rotation = [ 0.19329909189795189, -0.4852167922768701, -1.5625699029758116,] +translation = [ 459.78373522464585, -180.81976306477637, -266.6352363727575,] [metadata] diff --git a/tests/data/cameras/minimal_session/min_session.slp b/tests/data/cameras/minimal_session/min_session.slp new file mode 100644 index 0000000000000000000000000000000000000000..f182b98fe26a2ab157d2b6fd7d127e1a10e039f7 GIT binary patch literal 44606 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multiview_min_session_labels(): + return Labels.load_file( + "tests/data/cameras/minimal_session/min_session.slp", + video_search=["tests/data/videos/"], + ) diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 1201a6a68..774c93d6c 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -4,6 +4,7 @@ import pytest from sleap.io.cameras import Camcorder, CameraCluster, RecordingSession +from sleap.io.dataset import Labels from sleap.io.video import Video @@ -62,7 +63,7 @@ def test_camera_cluster( # Test __len__ assert len(camera_cluster) == len(camera_cluster.cameras) - assert len(camera_cluster) == 4 + assert len(camera_cluster) == 8 # Test __getitem__, __iter__, and __contains__ for idx, cam in enumerate(camera_cluster): @@ -203,8 +204,8 @@ def compare_cameras(session_1: RecordingSession, session_2: RecordingSession): assert isinstance(session_dict, dict) assert session_dict["calibration"] == calibration_dict assert session_dict["camcorder_to_video_idx_map"] == { - 0: video_to_idx[centered_pair_vid], - 2: video_to_idx[hdf5_vid], + "0": str(video_to_idx[centered_pair_vid]), + "2": str(video_to_idx[hdf5_vid]), } # Test from_session_dict diff --git a/tests/io/test_dataset.py b/tests/io/test_dataset.py index faedaa501..020dd64ed 100644 --- a/tests/io/test_dataset.py +++ b/tests/io/test_dataset.py @@ -972,7 +972,10 @@ def test_save_labels_with_images(min_labels_slp, tmpdir): def test_save_labels_with_sessions( - min_labels_slp: Labels, min_session_session: RecordingSession, tmpdir + min_labels_slp: Labels, + min_session_session: RecordingSession, + multiview_min_session_labels: Labels, + tmpdir, ): """Test that we can save labels with sessions attribute.""" @@ -1001,6 +1004,14 @@ def test_save_labels_with_sessions( assert loaded_session.labels == loaded_labels + labels = multiview_min_session_labels + session = labels.sessions[0] + for vid, cam in zip(labels.videos, session.camera_cluster.cameras): + session.add_video(vid, cam) + + new_path = str(Path(tmpdir, "test.slp")) + labels.save(new_path) + def test_add_session_and_update_session( min_labels_slp: Labels, min_session_session: RecordingSession From 35c1521cb25e9b38769dffb2f4af03bb16847531 Mon Sep 17 00:00:00 2001 From: roomrys Date: Wed, 4 Oct 2023 06:19:47 -0700 Subject: [PATCH 09/41] Add test for --- tests/io/test_cameras.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 774c93d6c..35210d2da 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -129,6 +129,7 @@ def test_recording_session( hdf5_vid: Video, ): """Test `RecordingSession` data structure.""" + calibration: str = min_session_calibration_toml_path camera_cluster: CameraCluster = min_session_camera_cluster @@ -220,6 +221,17 @@ def compare_sessions(session_1: RecordingSession, session_2: RecordingSession): session_2 = RecordingSession.from_session_dict(session_dict, videos_list) compare_sessions(session, session_2) + # Test get_videos_from_selected_cameras + selected_cam = session.linked_cameras[0] + selected_videos = session.get_videos_from_selected_cameras([selected_cam]) + assert len(selected_videos) == 1 + assert selected_videos[0] == session.get_video(selected_cam) + # Now without any cameras selected: expect to return all videos + selected_videos = session.get_videos_from_selected_cameras() + assert len(selected_videos) == len(session.linked_cameras) + for cam in session.linked_cameras: + assert session.get_video(cam) in selected_videos + # Test remove_video session.remove_video(centered_pair_vid) assert centered_pair_vid not in session.videos From 8098ae17f04619c447dc868fdcbf1e6f6a3502d2 Mon Sep 17 00:00:00 2001 From: roomrys Date: Wed, 4 Oct 2023 06:23:59 -0700 Subject: [PATCH 10/41] Fix spelling --- sleap/io/cameras.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 66537cb6c..260c1a3cf 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -575,7 +575,7 @@ def get_videos_from_selected_cameras( return videos - def get_instances_accross_views( + def get_instances_across_views( self, frame_idx: int, cams_to_include: Optional[List[Camcorder]] = None, @@ -680,7 +680,7 @@ def update_views( return # Get all views at this frame index - instances = self.get_instances_accross_views( + instances = self.get_instances_across_views( frame_idx, cams_to_include=cams_to_include, track=track, From addc8be77db40a8ae6d73766f78f50c9cc43bb59 Mon Sep 17 00:00:00 2001 From: roomrys Date: Wed, 4 Oct 2023 08:10:48 -0700 Subject: [PATCH 11/41] Add debugging messages and raise ValueError --- sleap/io/cameras.py | 51 ++++++++++++++++++++++++++++++++------------- 1 file changed, 36 insertions(+), 15 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 260c1a3cf..71551876c 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -588,10 +588,15 @@ def get_instances_across_views( frame_idx: Frame index to get instances from (0-indexed). cams_to_include: List of `Camcorder`s to include. Default is all. track: `Track` object used to find instances accross views. Default is None. - require_multiple_views: If True, then raise error if only one view is found. + require_multiple_views: If True, then raise and error if one or less views + or instances are found. Returns: List of `Instances` objects. + + Raises: + ValueError if require_multiple_view is true by one or less view or instance + is found. """ views: List["LabeledFrame"] = [] @@ -602,19 +607,28 @@ def get_instances_across_views( for video in videos: lfs: List["LabeledFrame"] = self.labels.get((video, [frame_idx])) if len(lfs) == 0: + logger.debug( + "No LabeledFrames found for video " + f"{video} at {frame_idx}." + ) continue lf = lfs[0] - if len(lf.instances) > 0: - views.append(lf) + if len(lf.instances) == 0: + logger.debug( + f"No Instances with {track} found for " + f"{video} at {frame_idx}." + ) + continue + + views.append(lf) - # If no views, then return + # If not enough views, then raise error if len(views) <= 1 and require_multiple_views: - logger.warning( + raise ValueError( "One or less views found for frame " f"{frame_idx} in {self.camera_cluster}." ) - return instances # Find all instance accross all views instances: List["Instances"] = [] @@ -622,6 +636,13 @@ def get_instances_across_views( insts = lf.find(track=track) if len(insts) > 0: instances.append(insts[0]) + + # If not enough instances for multiple views, then raise error + if len(instances) <= 1 and require_multiple_views: + raise ValueError( + "One or less instances found for frame " + f"{frame_idx} in {self.camera_cluster}." + ) return instances @@ -680,15 +701,15 @@ def update_views( return # Get all views at this frame index - instances = self.get_instances_across_views( - frame_idx, - cams_to_include=cams_to_include, - track=track, - require_multiple_views=True, - ) - - # If no instances, then return - if len(instances) <= 1: + try: + instances = self.get_instances_across_views( + frame_idx, + cams_to_include=cams_to_include, + track=track, + require_multiple_views=True, + ) + except ValueError: + # If not enough views or instances, then return logger.warning( "One or less instances found for frame " f"{frame_idx} in {self.camera_cluster}. " From 74a8f8373efc65dfffb58b92a203b5eeeff9fd7c Mon Sep 17 00:00:00 2001 From: roomrys Date: Wed, 4 Oct 2023 08:16:52 -0700 Subject: [PATCH 12/41] Add test for `get_instances_accross_views` --- tests/io/test_cameras.py | 53 ++++++++++++++++++++++++++++++++++++++-- 1 file changed, 51 insertions(+), 2 deletions(-) diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 35210d2da..1863edda7 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -1,10 +1,12 @@ """Module to test functions in `sleap.io.cameras`.""" +from typing import List + import numpy as np import pytest from sleap.io.cameras import Camcorder, CameraCluster, RecordingSession -from sleap.io.dataset import Labels +from sleap.io.dataset import Instance, LabeledFrame, Labels from sleap.io.video import Video @@ -127,9 +129,10 @@ def test_recording_session( min_session_camera_cluster: CameraCluster, centered_pair_vid: Video, hdf5_vid: Video, + multiview_min_session_labels: Labels, ): """Test `RecordingSession` data structure.""" - + calibration: str = min_session_calibration_toml_path camera_cluster: CameraCluster = min_session_camera_cluster @@ -255,3 +258,49 @@ def compare_sessions(session_1: RecordingSession, session_2: RecordingSession): assert session_dict_2 == session_dict session_3 = sessions_cattr.structure(session_dict_2, RecordingSession) compare_sessions(session_2, session_3) + + # Test get_instances_across_views + labels = multiview_min_session_labels + lf: LabeledFrame = labels[0] + track = labels.tracks[0] + session_from_labels = labels.sessions[0] + instances: List[Instance] = session_from_labels.get_instances_across_views( + frame_idx=lf.frame_idx, track=track + ) + assert len(instances) == len(session_from_labels.videos) + for inst, vid in zip(instances, session_from_labels.videos): + assert inst.frame_idx == lf.frame_idx + assert inst.track == track + assert inst.video == vid + # Try with excluding cam views + lf: LabeledFrame = labels[2] + track = labels.tracks[1] + cams_to_include = session_from_labels.linked_cameras[:4] + videos_to_include = session_from_labels.get_videos_from_selected_cameras( + cams_to_include=cams_to_include + ) + assert len(cams_to_include) == 4 + assert len(videos_to_include) == len(cams_to_include) + instances: List[Instance] = session_from_labels.get_instances_across_views( + frame_idx=lf.frame_idx, track=track, cams_to_include=cams_to_include + ) + assert len(instances) == len( + videos_to_include + ) # May not be true if no instances at that frame + for inst, vid in zip(instances, videos_to_include): + assert inst.frame_idx == lf.frame_idx + assert inst.track == track + assert inst.video == vid + # Try with only a single view + cams_to_include = [session_from_labels.linked_cameras[0]] + with pytest.raises(ValueError): + instances = session_from_labels.get_instances_across_views(frame_idx=lf.frame_idx, cams_to_include=cams_to_include, track=track, require_multiple_views=True) + # Try with multiple views, but not enough instances + track = labels.tracks[1] + cams_to_include = session_from_labels.linked_cameras[4:6] + with pytest.raises(ValueError): + instances = session_from_labels.get_instances_across_views(frame_idx=lf.frame_idx, cams_to_include=cams_to_include, track=track, require_multiple_views=True) + + +if __name__ == "__main__": + pytest.main([f"{__file__}::test_recording_session"]) From 4f65679bd780508620773e4c54dff91eecf6a696 Mon Sep 17 00:00:00 2001 From: roomrys Date: Wed, 4 Oct 2023 08:24:18 -0700 Subject: [PATCH 13/41] Lint --- sleap/io/cameras.py | 18 +++++++----------- tests/io/test_cameras.py | 18 ++++++++++++------ 2 files changed, 19 insertions(+), 17 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 71551876c..ab2fbbd98 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -588,15 +588,15 @@ def get_instances_across_views( frame_idx: Frame index to get instances from (0-indexed). cams_to_include: List of `Camcorder`s to include. Default is all. track: `Track` object used to find instances accross views. Default is None. - require_multiple_views: If True, then raise and error if one or less views + require_multiple_views: If True, then raise and error if one or less views or instances are found. Returns: List of `Instances` objects. Raises: - ValueError if require_multiple_view is true by one or less view or instance - is found. + ValueError if require_multiple_view is true and one or less views or + instances are found. """ views: List["LabeledFrame"] = [] @@ -608,19 +608,17 @@ def get_instances_across_views( lfs: List["LabeledFrame"] = self.labels.get((video, [frame_idx])) if len(lfs) == 0: logger.debug( - "No LabeledFrames found for video " - f"{video} at {frame_idx}." + "No LabeledFrames found for video " f"{video} at {frame_idx}." ) continue lf = lfs[0] if len(lf.instances) == 0: logger.debug( - f"No Instances with {track} found for " - f"{video} at {frame_idx}." + f"No Instances with {track} found for " f"{video} at {frame_idx}." ) continue - + views.append(lf) # If not enough views, then raise error @@ -636,7 +634,7 @@ def get_instances_across_views( insts = lf.find(track=track) if len(insts) > 0: instances.append(insts[0]) - + # If not enough instances for multiple views, then raise error if len(instances) <= 1 and require_multiple_views: raise ValueError( @@ -737,7 +735,6 @@ def __len__(self): return len(self.videos) def __getattr__(self, attr: str) -> Any: - """Try to find the attribute in the camera_cluster next.""" return getattr(self.camera_cluster, attr) @@ -839,7 +836,6 @@ def to_session_dict(self, video_to_idx: Dict[Video, int]) -> dict: # and value is video index from `Labels.videos` camcorder_to_video_idx_map = {} for cam_idx, camcorder in enumerate(self.camera_cluster): - # Skip if Camcorder is not linked to any Video if camcorder not in self._video_by_camcorder: continue diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 1863edda7..561d11fe9 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -294,13 +294,19 @@ def compare_sessions(session_1: RecordingSession, session_2: RecordingSession): # Try with only a single view cams_to_include = [session_from_labels.linked_cameras[0]] with pytest.raises(ValueError): - instances = session_from_labels.get_instances_across_views(frame_idx=lf.frame_idx, cams_to_include=cams_to_include, track=track, require_multiple_views=True) + instances = session_from_labels.get_instances_across_views( + frame_idx=lf.frame_idx, + cams_to_include=cams_to_include, + track=track, + require_multiple_views=True, + ) # Try with multiple views, but not enough instances track = labels.tracks[1] cams_to_include = session_from_labels.linked_cameras[4:6] with pytest.raises(ValueError): - instances = session_from_labels.get_instances_across_views(frame_idx=lf.frame_idx, cams_to_include=cams_to_include, track=track, require_multiple_views=True) - - -if __name__ == "__main__": - pytest.main([f"{__file__}::test_recording_session"]) + instances = session_from_labels.get_instances_across_views( + frame_idx=lf.frame_idx, + cams_to_include=cams_to_include, + track=track, + require_multiple_views=True, + ) From 243ad3c57c2db6ef71aa6a5b50a6490a9175323e Mon Sep 17 00:00:00 2001 From: roomrys Date: Wed, 4 Oct 2023 08:39:49 -0700 Subject: [PATCH 14/41] Modularize --- sleap/io/cameras.py | 59 ++++++++++++++++++++++++++++++++------------- 1 file changed, 42 insertions(+), 17 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index ab2fbbd98..d0c99b1ed 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -575,6 +575,44 @@ def get_videos_from_selected_cameras( return videos + def get_all_views_at_frame( + self, + frame_idx, + cams_to_include: Optional[List[Camcorder]] = None, + ) -> List["LabeledFrame"]: + """Get all views at a given frame index. + + Args: + frame_idx: Frame index to get views from (0-indexed). + cams_to_include: List of `Camcorder`s to include. Default is all. + + Returns: + List of `LabeledFrame` objects. + """ + + views: List["LabeledFrame"] = [] + + videos = self.get_videos_from_selected_cameras(cams_to_include=cams_to_include) + for video in videos: + lfs: List["LabeledFrame"] = self.labels.get((video, [frame_idx])) + if len(lfs) == 0: + logger.debug( + "No LabeledFrames found for video " f"{video} at {frame_idx}." + ) + continue + + lf = lfs[0] + if len(lf.instances) == 0: + logger.warning( + f"No Instances found for {lf}." + " There should be not empty LabeledFrames." + ) + continue + + views.append(lf) + + return views + def get_instances_across_views( self, frame_idx: int, @@ -601,25 +639,12 @@ def get_instances_across_views( views: List["LabeledFrame"] = [] instances: List["Instances"] = [] - videos = self.get_videos_from_selected_cameras(cams_to_include=cams_to_include) # Get all views at this frame index - for video in videos: - lfs: List["LabeledFrame"] = self.labels.get((video, [frame_idx])) - if len(lfs) == 0: - logger.debug( - "No LabeledFrames found for video " f"{video} at {frame_idx}." - ) - continue - - lf = lfs[0] - if len(lf.instances) == 0: - logger.debug( - f"No Instances with {track} found for " f"{video} at {frame_idx}." - ) - continue - - views.append(lf) + views = self.get_all_views_at_frame( + frame_idx=frame_idx, + cams_to_include=cams_to_include, + ) # If not enough views, then raise error if len(views) <= 1 and require_multiple_views: From bb0fda15904a7d32a34893fc13fa609ef58c12c6 Mon Sep 17 00:00:00 2001 From: roomrys Date: Wed, 4 Oct 2023 09:12:28 -0700 Subject: [PATCH 15/41] Modularize RecordingSession.update_views --- sleap/io/cameras.py | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index d0c99b1ed..b7f9be778 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -695,6 +695,16 @@ def calculate_reprojected_points(self, instances: List["Instances"]): return insts_coords_list + def update_instances(self, instances: List["Instances"]): + # Triangulate, reproject, and update coordinates + insts_coords_list: List[np.ndarray] = self.calculate_reprojected_points( + instances + ) + for inst, inst_coord in zip(instances, insts_coords_list): + inst.update_points( + inst_coord[0], exclude_complete=True + ) # inst_coord is (1, N, 2) + def update_views( self, frame_idx: int, @@ -741,14 +751,7 @@ def update_views( ) return - # Triangulate, reproject, and update coordinates - insts_coords_list: List[np.ndarray] = self.calculate_reprojected_points( - instances - ) - for inst, inst_coord in zip(instances, insts_coords_list): - inst.update_points( - inst_coord[0], exclude_complete=True - ) # inst_coord is (1, N, 2) + self.update_instances(instances) def __attrs_post_init__(self): self.camera_cluster.add_session(self) From f2039530968f3b5a872846aded394898eec90fad Mon Sep 17 00:00:00 2001 From: roomrys Date: Wed, 4 Oct 2023 09:43:55 -0700 Subject: [PATCH 16/41] Add comments on expected array size --- sleap/io/cameras.py | 20 ++++++++++++++------ 1 file changed, 14 insertions(+), 6 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index b7f9be778..d12d3f789 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -680,18 +680,26 @@ def calculate_reprojected_points(self, instances: List["Instances"]): numpy array of shape (1, N, 2) where N is the number of nodes. """ + # TODO (LM): Support multiple tracks and optimize + # Gather instances into M x F x T x N x 2 arrays # (M = # views, F = # frames = 1, T = # tracks = 1, N = # nodes, 2 = x, y) - inst_coords = np.stack([inst.numpy() for inst in instances], axis=0) - inst_coords = np.expand_dims(inst_coords, axis=1) - inst_coords = np.expand_dims(inst_coords, axis=1) - points_3d = triangulate(p2d=inst_coords, calib=self.camera_cluster) + inst_coords = np.stack( + [inst.numpy() for inst in instances], axis=0 + ) # M x N x 2 + inst_coords = np.expand_dims(inst_coords, axis=1) # M x T=1 x N x 2 + inst_coords = np.expand_dims(inst_coords, axis=1) # M x F=1 x T=1 x N x 2 + points_3d = triangulate( + p2d=inst_coords, calib=self.camera_cluster + ) # F=1, T=1, N, 3 # Update the views with the new 3D points - inst_coords_reprojected = reproject(points_3d, calib=self.camera_cluster) + inst_coords_reprojected = reproject( + points_3d, calib=self.camera_cluster + ) # M x F=1 x T=1 x N x 2 insts_coords_list: List[np.ndarray] = np.split( inst_coords_reprojected.squeeze(), inst_coords_reprojected.shape[0], axis=0 - ) + ) # len(M) of T=1 x N x 2 return insts_coords_list From 2bc5c47002a43e06bd2b4b5803d306f0f03d167d Mon Sep 17 00:00:00 2001 From: roomrys Date: Wed, 4 Oct 2023 09:44:44 -0700 Subject: [PATCH 17/41] Breakout recording session tests and test reprojection --- tests/io/test_cameras.py | 52 +++++++++++++++++++++++++++++++--------- 1 file changed, 41 insertions(+), 11 deletions(-) diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 561d11fe9..11c7769ec 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -224,17 +224,6 @@ def compare_sessions(session_1: RecordingSession, session_2: RecordingSession): session_2 = RecordingSession.from_session_dict(session_dict, videos_list) compare_sessions(session, session_2) - # Test get_videos_from_selected_cameras - selected_cam = session.linked_cameras[0] - selected_videos = session.get_videos_from_selected_cameras([selected_cam]) - assert len(selected_videos) == 1 - assert selected_videos[0] == session.get_video(selected_cam) - # Now without any cameras selected: expect to return all videos - selected_videos = session.get_videos_from_selected_cameras() - assert len(selected_videos) == len(session.linked_cameras) - for cam in session.linked_cameras: - assert session.get_video(cam) in selected_videos - # Test remove_video session.remove_video(centered_pair_vid) assert centered_pair_vid not in session.videos @@ -259,6 +248,27 @@ def compare_sessions(session_1: RecordingSession, session_2: RecordingSession): session_3 = sessions_cattr.structure(session_dict_2, RecordingSession) compare_sessions(session_2, session_3) + +def test_recording_session_get_videos_from_selected_cameras( + multiview_min_session_labels: Labels, +): + session = multiview_min_session_labels.sessions[0] + + # Test get_videos_from_selected_cameras + selected_cam = session.linked_cameras[0] + selected_videos = session.get_videos_from_selected_cameras([selected_cam]) + assert len(selected_videos) == 1 + assert selected_videos[0] == session.get_video(selected_cam) + # Now without any cameras selected: expect to return all videos + selected_videos = session.get_videos_from_selected_cameras() + assert len(selected_videos) == len(session.linked_cameras) + for cam in session.linked_cameras: + assert session.get_video(cam) in selected_videos + + +def test_recording_session_get_instances_across_views( + multiview_min_session_labels: Labels, +): # Test get_instances_across_views labels = multiview_min_session_labels lf: LabeledFrame = labels[0] @@ -310,3 +320,23 @@ def compare_sessions(session_1: RecordingSession, session_2: RecordingSession): track=track, require_multiple_views=True, ) + + +def test_recording_session_calculate_reprojected_points( + multiview_min_session_labels: Labels, +): + """Test `RecordingSession.calculate_reprojected_points`.""" + session = multiview_min_session_labels.sessions[0] + lf: LabeledFrame = multiview_min_session_labels[0] + track = multiview_min_session_labels.tracks[0] + instances: List[Instance] = session.get_instances_across_views( + frame_idx=lf.frame_idx, track=track + ) + inst_coords_list = session.calculate_reprojected_points(instances) + + # Check that we get the same number of instances as input + assert len(instances) == len(inst_coords_list) + + # Check that each instance has the same number of points + for inst, inst_coords in zip(instances, inst_coords_list): + assert inst_coords.shape[1] == len(inst.skeleton) # (1, 15, 2) From e0a57f26a15ed027e40ccbbe61676952ff1b4b9c Mon Sep 17 00:00:00 2001 From: roomrys Date: Wed, 4 Oct 2023 12:48:54 -0700 Subject: [PATCH 18/41] Add test for RecordingSession.update_instances --- sleap/instance.py | 25 +++++++++++-------------- tests/io/test_cameras.py | 21 +++++++++++++++++++++ 2 files changed, 32 insertions(+), 14 deletions(-) diff --git a/sleap/instance.py b/sleap/instance.py index 3856a1566..1da784416 100644 --- a/sleap/instance.py +++ b/sleap/instance.py @@ -17,21 +17,21 @@ out of sync if the skeleton is manipulated. """ +import logging import math - -import numpy as np -import cattr - from copy import copy -from typing import Dict, List, Optional, Union, Tuple, ForwardRef +from typing import Dict, ForwardRef, List, Optional, Tuple, Union +import attr +import cattr +import numpy as np from numpy.lib.recfunctions import structured_to_unstructured import sleap -from sleap.skeleton import Skeleton, Node from sleap.io.video import Video +from sleap.skeleton import Node, Skeleton -import attr +logger = logging.getLogger(__name__) class Point(np.record): @@ -57,7 +57,6 @@ def __new__( visible: bool = True, complete: bool = False, ) -> "Point": - # HACK: This is a crazy way to instantiate at new Point but I can't figure # out how recarray does it. So I just use it to make matrix of size 1 and # index in to get the np.record/Point @@ -124,7 +123,6 @@ def __new__( complete: bool = False, score: float = 0.0, ) -> "PredictedPoint": - # HACK: This is a crazy way to instantiate at new Point but I can't figure # out how recarray does it. So I just use it to make matrix of size 1 and # index in to get the np.record/Point @@ -184,7 +182,6 @@ def __new__( aligned=False, order="C", ) -> "PointArray": - dtype = subtype._record_type.dtype if dtype is not None: @@ -445,12 +442,10 @@ def __attrs_post_init__(self): # If the user did not pass a points list initialize a point array for future # points. if self._points is None or len(self._points) == 0: - # Initialize an empty point array that is the size of the skeleton. self._points = self._point_array_type.make_default(len(self.skeleton.nodes)) else: - if type(self._points) is dict: parray = self._point_array_type.make_default(len(self.skeleton.nodes)) Instance._points_dict_to_array(self._points, parray, self.skeleton) @@ -507,7 +502,10 @@ def _points_dict_to_array( parray[skeleton.node_to_index(node)] = point # parray[skeleton.node_to_index(node.name)] = point except: - pass + logger.debug( + f"Could not set point for node {node} in {skeleton} " + f"with point {point}" + ) def _node_to_index(self, node: Union[str, Node]) -> int: """Helper method to get the index of a node from its name. @@ -1216,7 +1214,6 @@ def make_instance_cattr() -> cattr.Converter: converter.register_unstructure_hook(PredictedPointArray, lambda x: None) def unstructure_instance(x: Instance): - # Unstructure everything but the points array, nodes, and frame attribute d = { field.name: converter.unstructure(x.__getattribute__(field.name)) diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 11c7769ec..0a75fbb98 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -340,3 +340,24 @@ def test_recording_session_calculate_reprojected_points( # Check that each instance has the same number of points for inst, inst_coords in zip(instances, inst_coords_list): assert inst_coords.shape[1] == len(inst.skeleton) # (1, 15, 2) + + +def test_recording_session_update_instances(multiview_min_session_labels: Labels): + """Test `RecordingSession.update_instances`.""" + + # Test update_instances + session = multiview_min_session_labels.sessions[0] + lf: LabeledFrame = multiview_min_session_labels[0] + track = multiview_min_session_labels.tracks[0] + instances: List[Instance] = session.get_instances_across_views( + frame_idx=lf.frame_idx, track=track + ) + inst_coords_list = session.calculate_reprojected_points(instances) + session.update_instances(instances) + for inst, inst_coords in zip(instances, inst_coords_list): + assert np.array_equal(inst_coords, inst.points_array) + + +# TODO(LM): Remove debugging code +if __name__ == "__main__": + pytest.main([f"{__file__}::test_recording_session_update_instances"]) From a1965e9b6ca89205889a7bdf69d82bcebfd9df97 Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Mon, 9 Oct 2023 14:37:48 -0700 Subject: [PATCH 19/41] Add keyword arguments to `update_views` call --- sleap/gui/app.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/sleap/gui/app.py b/sleap/gui/app.py index 7653a5f56..20fac0bc6 100644 --- a/sleap/gui/app.py +++ b/sleap/gui/app.py @@ -1234,11 +1234,13 @@ def _after_plot_update(self, frame_idx): # Replot connected views for multi-camera projects session = self.labels.get_session(video) + cams_to_include = None # TODO: make this configurable via GUI if session is not None and instance is not None: track = instance.track session.update_views( - frame_idx, - track, + frame_idx=frame_idx, + track=track, + cams_to_include=cams_to_include, ) # TODO(LM): Move this to a dock for replotting on demand From 62f4f7f1cbedd90ec764352e11ba7c08eae2acdd Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Mon, 9 Oct 2023 15:31:31 -0700 Subject: [PATCH 20/41] Add docstring to update_instances --- sleap/io/cameras.py | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index d12d3f789..38f2ebf35 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -703,7 +703,16 @@ def calculate_reprojected_points(self, instances: List["Instances"]): return insts_coords_list - def update_instances(self, instances: List["Instances"]): + def update_instances(self, instances: List["Instance"]): + """Triangulate, reproject, and update coordinates of `Instances`. + + Args: + instances: List of `Instances` objects. + + Returns: + None + """ + # Triangulate, reproject, and update coordinates insts_coords_list: List[np.ndarray] = self.calculate_reprojected_points( instances From 9b67128fc70637eb41a14c7e54d5428134725ecd Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Mon, 9 Oct 2023 15:32:08 -0700 Subject: [PATCH 21/41] Fix update_instances test --- tests/io/test_cameras.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 0a75fbb98..44c2e1187 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -353,9 +353,14 @@ def test_recording_session_update_instances(multiview_min_session_labels: Labels frame_idx=lf.frame_idx, track=track ) inst_coords_list = session.calculate_reprojected_points(instances) - session.update_instances(instances) for inst, inst_coords in zip(instances, inst_coords_list): - assert np.array_equal(inst_coords, inst.points_array) + assert inst_coords.shape == (1, len(inst.skeleton), 2) # Tracks, Nodes, 2 + # Assert coord are different from original + assert not np.array_equal(inst_coords, inst.points_array) + + # Just run for code coverage testing, do not test output here (race condition) + # (see "functional core, imperative shell" pattern) + session.update_instances(instances) # TODO(LM): Remove debugging code From 99ef17eb5f15f1a0025c3aa1e60e76850b590dd7 Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Mon, 9 Oct 2023 15:37:28 -0700 Subject: [PATCH 22/41] Update debug/warning messages --- sleap/io/cameras.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 38f2ebf35..68350e1bd 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -597,7 +597,7 @@ def get_all_views_at_frame( lfs: List["LabeledFrame"] = self.labels.get((video, [frame_idx])) if len(lfs) == 0: logger.debug( - "No LabeledFrames found for video " f"{video} at {frame_idx}." + f"No LabeledFrames found for video {video} at {frame_idx}." ) continue @@ -605,7 +605,7 @@ def get_all_views_at_frame( if len(lf.instances) == 0: logger.warning( f"No Instances found for {lf}." - " There should be not empty LabeledFrames." + " There should not be empty LabeledFrames." ) continue From 38599f4c600b704b442d913dad1de72b7bd3bf59 Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Mon, 9 Oct 2023 15:47:23 -0700 Subject: [PATCH 23/41] Add test for remove_video and labels cache --- tests/io/test_cameras.py | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 44c2e1187..15990b3a1 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -6,7 +6,7 @@ import pytest from sleap.io.cameras import Camcorder, CameraCluster, RecordingSession -from sleap.io.dataset import Instance, LabeledFrame, Labels +from sleap.io.dataset import Instance, LabeledFrame, Labels, LabelsDataCache from sleap.io.video import Video @@ -363,6 +363,13 @@ def test_recording_session_update_instances(multiview_min_session_labels: Labels session.update_instances(instances) -# TODO(LM): Remove debugging code -if __name__ == "__main__": - pytest.main([f"{__file__}::test_recording_session_update_instances"]) +def test_recording_session_remove_video(multiview_min_session_labels: Labels): + labels = multiview_min_session_labels + labels_cache = labels._cache + session = labels.sessions[0] + video = session.videos[0] + assert session.labels is not None + assert video in session.videos + session.remove_video(video) + assert labels_cache._session_by_video.get(video, None) is None + assert video not in session.videos From df1bc72ad25950dcb1205bddbb8fcc34a2545cea Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Tue, 10 Oct 2023 12:01:25 -0700 Subject: [PATCH 24/41] Add test for update_views --- tests/io/test_cameras.py | 59 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 59 insertions(+) diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 15990b3a1..46d1cb148 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -373,3 +373,62 @@ def test_recording_session_remove_video(multiview_min_session_labels: Labels): session.remove_video(video) assert labels_cache._session_by_video.get(video, None) is None assert video not in session.videos + + +def test_recording_session_update_views(multiview_min_session_labels: Labels, caplog): + """Test `RecordingSession.update_views`.""" + + labels = multiview_min_session_labels + session = labels.sessions[0] + lf: LabeledFrame = labels[2] + + # 1a. Not enough cams included + cams_to_include = [session.linked_cameras[0]] + track = labels.tracks[0] + session.update_views( + frame_idx=lf.frame_idx, + cams_to_include=cams_to_include, + track=track, + ) + messages = "".join([rec.message for rec in caplog.records]) + assert "One or less cameras available." in messages + caplog.clear() + + # 2a. Not enough instances + track = labels.tracks[1] + cams_to_include = session.linked_cameras[4:6] + session.update_views( + frame_idx=lf.frame_idx, + cams_to_include=cams_to_include, + track=track, + ) + messages = "".join([rec.message for rec in caplog.records]) + assert "One or less instances found for frame" in messages + caplog.clear() + + # 2b. Not enough views + ... + + # 3. Enough views and instances + cams_to_include = session.linked_cameras[:4] + track = labels.tracks[1] + session.update_views( + frame_idx=lf.frame_idx, + cams_to_include=cams_to_include, + track=track, + ) + messages = "".join([rec.message for rec in caplog.records]) + + # 1b. Not enough videos + for video in session.videos[1:]: + session.remove_video(video) + video = session.videos[0] + cams_to_include = [session[video]] + session.update_views( + frame_idx=lf.frame_idx, + cams_to_include=cams_to_include, + track=track, + ) + messages = "".join([rec.message for rec in caplog.records]) + assert "One or less cameras available." in messages + caplog.clear() From e85e4fbe51e95e8a5ed94a70134b9af9abbb7eda Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Tue, 10 Oct 2023 12:03:08 -0700 Subject: [PATCH 25/41] Pass in excluded views to triangulate and reproject --- sleap/io/cameras.py | 31 ++++++++++++++++++++++++++++--- 1 file changed, 28 insertions(+), 3 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 68350e1bd..81692aa49 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -669,11 +669,19 @@ def get_instances_across_views( return instances - def calculate_reprojected_points(self, instances: List["Instances"]): + def calculate_reprojected_points( + self, instances: List["Instances"], excluded_views: Optional[Tuple[str]] = None + ): """Triangulate and reproject instance coordinates. + Note that the order of the instances in the list must match the order of the + excluded_views (if included, otherwise calculated which is not recommended as + it computationally expensive). + Args: instances: List of `Instances` objects. + excluded_views: List of view names to exclude. Default is None which results + in either calculating the excluded views from the instances. Returns: List of reprojected instance coordinates. Each element in the list is a @@ -682,6 +690,21 @@ def calculate_reprojected_points(self, instances: List["Instances"]): # TODO (LM): Support multiple tracks and optimize + # If excluded_views is None calculate the excluded_views: not recommended. + if excluded_views is None: + logger.warning( + "Calculating excluded views from instances. " + "This is slower than explicitly providing excluded views." + ) + cams_included: List[Camcorder] = [] + for instance in instances: + video = instance.frame.video + cam = self.get_camera(video) + cams_included.append(cam) + + cams_excluded = set(self.cameras) - set(cams_included) + excluded_views = tuple(cam.name for cam in cams_excluded) + # Gather instances into M x F x T x N x 2 arrays # (M = # views, F = # frames = 1, T = # tracks = 1, N = # nodes, 2 = x, y) inst_coords = np.stack( @@ -690,12 +713,14 @@ def calculate_reprojected_points(self, instances: List["Instances"]): inst_coords = np.expand_dims(inst_coords, axis=1) # M x T=1 x N x 2 inst_coords = np.expand_dims(inst_coords, axis=1) # M x F=1 x T=1 x N x 2 points_3d = triangulate( - p2d=inst_coords, calib=self.camera_cluster + p2d=inst_coords, + calib=self.camera_cluster, + excluded_views=excluded_views, ) # F=1, T=1, N, 3 # Update the views with the new 3D points inst_coords_reprojected = reproject( - points_3d, calib=self.camera_cluster + points_3d, calib=self.camera_cluster, excluded_views=excluded_views ) # M x F=1 x T=1 x N x 2 insts_coords_list: List[np.ndarray] = np.split( inst_coords_reprojected.squeeze(), inst_coords_reprojected.shape[0], axis=0 From 71056561727245b9bf8c73d06d40829076832647 Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Tue, 10 Oct 2023 15:25:37 -0700 Subject: [PATCH 26/41] Small fix in test_recording_session --- tests/io/test_cameras.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 46d1cb148..59d89b617 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -129,7 +129,6 @@ def test_recording_session( min_session_camera_cluster: CameraCluster, centered_pair_vid: Video, hdf5_vid: Video, - multiview_min_session_labels: Labels, ): """Test `RecordingSession` data structure.""" @@ -189,8 +188,8 @@ def test_recording_session( # Test from_calibration_dict def compare_cameras(session_1: RecordingSession, session_2: RecordingSession): - assert len(session_2.camera_cluster) == len(session.camera_cluster) - for cam_1, cam_2 in zip(session, session_2): + assert len(session_2.camera_cluster) == len(session_1.camera_cluster) + for cam_1, cam_2 in zip(session_1, session_2): assert cam_1 == cam_2 calibration_dict = session.camera_cluster.to_calibration_dict() From bffeca84aeae03e014dbd2b2a3ba3c8e6db7bbad Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Tue, 10 Oct 2023 16:07:10 -0700 Subject: [PATCH 27/41] Ensure instances are always passed in with correct order --- sleap/io/cameras.py | 133 ++++++++++++++++++++------------------- tests/io/test_cameras.py | 65 +++++++++++-------- 2 files changed, 109 insertions(+), 89 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 81692aa49..aa31afce3 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -1,24 +1,21 @@ """Module for storing information for camera groups.""" import logging import tempfile -import toml +from pathlib import Path +from typing import Any, Dict, Iterator, List, Optional, Tuple, Union import cattr import numpy as np - -from pathlib import Path -from typing import List, Optional, Union, Iterator, Any, Dict, Tuple - -from aniposelib.cameras import Camera, FisheyeCamera, CameraGroup +import toml +from aniposelib.cameras import Camera, CameraGroup, FisheyeCamera from attrs import define, field from attrs.validators import deep_iterable, instance_of -from sleap_anipose import triangulate, reproject +from sleap_anipose import reproject, triangulate # from sleap.io.dataset import Labels # TODO(LM): Circular import, implement Observer from sleap.io.video import Video from sleap.util import deep_iterable_converter - logger = logging.getLogger(__name__) @@ -552,26 +549,26 @@ def remove_video(self, video: Video): def get_videos_from_selected_cameras( self, cams_to_include: Optional[List[Camcorder]] = None - ) -> List[Video]: + ) -> Dict[Camcorder, Video]: """Get all `Video`s from selected `Camcorder`s. Args: cams_to_include: List of `Camcorder`s to include. Defualt is all. Returns: - List of `Video`s. + Dictionary with `Camcorder` key and `Video` value. """ # If no `Camcorder`s specified, then return all videos in session if cams_to_include is None: - return self.videos + return self._video_by_camcorder # Get all videos from selected `Camcorder`s - videos: List[Video] = [] + videos: Dict[Camcorder, Video] = {} for cam in cams_to_include: video = self.get_video(cam) if video is not None: - videos.append(video) + videos[cam] = video return videos @@ -579,7 +576,7 @@ def get_all_views_at_frame( self, frame_idx, cams_to_include: Optional[List[Camcorder]] = None, - ) -> List["LabeledFrame"]: + ) -> Dict[Camcorder, "LabeledFrame"]: """Get all views at a given frame index. Args: @@ -587,13 +584,14 @@ def get_all_views_at_frame( cams_to_include: List of `Camcorder`s to include. Default is all. Returns: - List of `LabeledFrame` objects. + Dict with `Camcorder` keys and `LabeledFrame` values. """ - views: List["LabeledFrame"] = [] - - videos = self.get_videos_from_selected_cameras(cams_to_include=cams_to_include) - for video in videos: + views: Dict[Camcorder, "LabeledFrame"] = {} + videos: Dict[Camcorder, Video] = self.get_videos_from_selected_cameras( + cams_to_include=cams_to_include + ) + for cam, video in videos.items(): lfs: List["LabeledFrame"] = self.labels.get((video, [frame_idx])) if len(lfs) == 0: logger.debug( @@ -609,7 +607,7 @@ def get_all_views_at_frame( ) continue - views.append(lf) + views[cam] = lf return views @@ -619,7 +617,7 @@ def get_instances_across_views( cams_to_include: Optional[List[Camcorder]] = None, track: Optional["Track"] = None, require_multiple_views: bool = False, - ) -> List["LabeledFrame"]: + ) -> Dict[Camcorder, "Instance"]: """Get all `Instances` accross all views at a given frame index. Args: @@ -630,18 +628,15 @@ def get_instances_across_views( or instances are found. Returns: - List of `Instances` objects. + Dict with `Camcorder` keys and `Instances` values. Raises: ValueError if require_multiple_view is true and one or less views or instances are found. """ - views: List["LabeledFrame"] = [] - instances: List["Instances"] = [] - # Get all views at this frame index - views = self.get_all_views_at_frame( + views: Dict[Camcorder, "LabeledFrame"] = self.get_all_views_at_frame( frame_idx=frame_idx, cams_to_include=cams_to_include, ) @@ -654,11 +649,11 @@ def get_instances_across_views( ) # Find all instance accross all views - instances: List["Instances"] = [] - for lf in views: + instances: Dict[Camcorder, "Instance"] = {} + for cam, lf in views.items(): insts = lf.find(track=track) if len(insts) > 0: - instances.append(insts[0]) + instances[cam] = insts[0] # If not enough instances for multiple views, then raise error if len(instances) <= 1 and require_multiple_views: @@ -669,46 +664,53 @@ def get_instances_across_views( return instances + def calculate_excluded_views( + self, + instances: Dict[Camcorder, "Instance"], + ) -> Tuple[str]: + """Get excluded views from dictionary of `Camcorder` to `Instance`. + + Args: + instances: Dict with `Camcorder` key and `Instance` values. + + Returns: + Tuple of excluded view names. + """ + + # Calculate excluded views from included cameras + cams_excluded = set(self.cameras) - set(instances.keys()) + excluded_views = tuple(cam.name for cam in cams_excluded) + + return excluded_views + def calculate_reprojected_points( - self, instances: List["Instances"], excluded_views: Optional[Tuple[str]] = None - ): + self, instances: Dict[Camcorder, "Instance"] + ) -> Iterator[Tuple["Instance", np.ndarray]]: """Triangulate and reproject instance coordinates. Note that the order of the instances in the list must match the order of the - excluded_views (if included, otherwise calculated which is not recommended as - it computationally expensive). + cameras in the `CameraCluster`, that is why we require instances be passed in as + a dictionary mapping back to its `Camcorder`. + https://github.com/lambdaloop/aniposelib/blob/d03b485c4e178d7cff076e9fe1ac36837db49158/aniposelib/cameras.py#L491 Args: - instances: List of `Instances` objects. - excluded_views: List of view names to exclude. Default is None which results - in either calculating the excluded views from the instances. + instances: Dict with `Camcorder` keys and `Instance` values. Returns: - List of reprojected instance coordinates. Each element in the list is a - numpy array of shape (1, N, 2) where N is the number of nodes. + A zip of the ordered instances and the related reprojected coordinates. Each + element in the coordinates is a numpy array of shape (1, N, 2) where N is + the number of nodes. """ # TODO (LM): Support multiple tracks and optimize - # If excluded_views is None calculate the excluded_views: not recommended. - if excluded_views is None: - logger.warning( - "Calculating excluded views from instances. " - "This is slower than explicitly providing excluded views." - ) - cams_included: List[Camcorder] = [] - for instance in instances: - video = instance.frame.video - cam = self.get_camera(video) - cams_included.append(cam) - - cams_excluded = set(self.cameras) - set(cams_included) - excluded_views = tuple(cam.name for cam in cams_excluded) + excluded_views = self.calculate_excluded_views(instances=instances) + instances_ordered = [instances[cam] for cam in self.cameras if cam in instances] - # Gather instances into M x F x T x N x 2 arrays + # Gather instances into M x F x T x N x 2 arrays (require specific order) # (M = # views, F = # frames = 1, T = # tracks = 1, N = # nodes, 2 = x, y) inst_coords = np.stack( - [inst.numpy() for inst in instances], axis=0 + [inst.numpy() for inst in instances_ordered], axis=0 ) # M x N x 2 inst_coords = np.expand_dims(inst_coords, axis=1) # M x T=1 x N x 2 inst_coords = np.expand_dims(inst_coords, axis=1) # M x F=1 x T=1 x N x 2 @@ -726,23 +728,25 @@ def calculate_reprojected_points( inst_coords_reprojected.squeeze(), inst_coords_reprojected.shape[0], axis=0 ) # len(M) of T=1 x N x 2 - return insts_coords_list + return zip(instances_ordered, insts_coords_list) - def update_instances(self, instances: List["Instance"]): + def update_instances(self, instances: Dict[Camcorder, "Instance"]): """Triangulate, reproject, and update coordinates of `Instances`. Args: - instances: List of `Instances` objects. + instances: Dict with `Camcorder` keys and `Instance` values. Returns: None """ - # Triangulate, reproject, and update coordinates - insts_coords_list: List[np.ndarray] = self.calculate_reprojected_points( - instances - ) - for inst, inst_coord in zip(instances, insts_coords_list): + # Triangulate and reproject instance coordinates. + instances_and_coords: Iterator[ + Tuple["Instance", np.ndarray] + ] = self.calculate_reprojected_points(instances) + + # Update the instance coordinates. + for inst, inst_coord in instances_and_coords: inst.update_points( inst_coord[0], exclude_complete=True ) # inst_coord is (1, N, 2) @@ -775,9 +779,9 @@ def update_views( ) return - # Get all views at this frame index + # Get all instances accross views at this frame index try: - instances = self.get_instances_across_views( + instances: Dict[Camcorder, "Instance"] = self.get_instances_across_views( frame_idx, cams_to_include=cams_to_include, track=track, @@ -793,6 +797,7 @@ def update_views( ) return + # Update the instance coordinates self.update_instances(instances) def __attrs_post_init__(self): diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 59d89b617..370908cd0 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -1,6 +1,6 @@ """Module to test functions in `sleap.io.cameras`.""" -from typing import List +from typing import Dict, List import numpy as np import pytest @@ -257,63 +257,72 @@ def test_recording_session_get_videos_from_selected_cameras( selected_cam = session.linked_cameras[0] selected_videos = session.get_videos_from_selected_cameras([selected_cam]) assert len(selected_videos) == 1 - assert selected_videos[0] == session.get_video(selected_cam) + assert selected_videos[selected_cam] == session.get_video(selected_cam) # Now without any cameras selected: expect to return all videos selected_videos = session.get_videos_from_selected_cameras() assert len(selected_videos) == len(session.linked_cameras) for cam in session.linked_cameras: - assert session.get_video(cam) in selected_videos + assert cam in selected_videos + assert session.get_video(cam) == selected_videos[cam] def test_recording_session_get_instances_across_views( multiview_min_session_labels: Labels, ): - # Test get_instances_across_views + labels = multiview_min_session_labels + session = labels.sessions[0] + + # Test get_instances_across_views lf: LabeledFrame = labels[0] track = labels.tracks[0] - session_from_labels = labels.sessions[0] - instances: List[Instance] = session_from_labels.get_instances_across_views( + instances: Dict[Camcorder, Instance] = session.get_instances_across_views( frame_idx=lf.frame_idx, track=track ) - assert len(instances) == len(session_from_labels.videos) - for inst, vid in zip(instances, session_from_labels.videos): + assert len(instances) == len(session.videos) + for vid in session.videos: + cam = session[vid] + inst = instances[cam] assert inst.frame_idx == lf.frame_idx assert inst.track == track assert inst.video == vid + # Try with excluding cam views lf: LabeledFrame = labels[2] track = labels.tracks[1] - cams_to_include = session_from_labels.linked_cameras[:4] - videos_to_include = session_from_labels.get_videos_from_selected_cameras( - cams_to_include=cams_to_include - ) + cams_to_include = session.linked_cameras[:4] + videos_to_include: Dict[ + Camcorder, Video + ] = session.get_videos_from_selected_cameras(cams_to_include=cams_to_include) assert len(cams_to_include) == 4 assert len(videos_to_include) == len(cams_to_include) - instances: List[Instance] = session_from_labels.get_instances_across_views( + instances: Dict[Camcorder, Instance] = session.get_instances_across_views( frame_idx=lf.frame_idx, track=track, cams_to_include=cams_to_include ) assert len(instances) == len( videos_to_include ) # May not be true if no instances at that frame - for inst, vid in zip(instances, videos_to_include): + for cam, vid in videos_to_include.items(): + inst = instances[cam] assert inst.frame_idx == lf.frame_idx assert inst.track == track assert inst.video == vid + # Try with only a single view - cams_to_include = [session_from_labels.linked_cameras[0]] + cams_to_include = [session.linked_cameras[0]] with pytest.raises(ValueError): - instances = session_from_labels.get_instances_across_views( + instances = session.get_instances_across_views( frame_idx=lf.frame_idx, cams_to_include=cams_to_include, track=track, require_multiple_views=True, ) + # Try with multiple views, but not enough instances track = labels.tracks[1] - cams_to_include = session_from_labels.linked_cameras[4:6] + cams_to_include = session.linked_cameras[4:6] with pytest.raises(ValueError): - instances = session_from_labels.get_instances_across_views( + instances = session.get_instances_across_views( frame_idx=lf.frame_idx, cams_to_include=cams_to_include, track=track, @@ -325,19 +334,20 @@ def test_recording_session_calculate_reprojected_points( multiview_min_session_labels: Labels, ): """Test `RecordingSession.calculate_reprojected_points`.""" + session = multiview_min_session_labels.sessions[0] lf: LabeledFrame = multiview_min_session_labels[0] track = multiview_min_session_labels.tracks[0] - instances: List[Instance] = session.get_instances_across_views( + instances: Dict[Camcorder, Instance] = session.get_instances_across_views( frame_idx=lf.frame_idx, track=track ) - inst_coords_list = session.calculate_reprojected_points(instances) + instances_and_coords = session.calculate_reprojected_points(instances) # Check that we get the same number of instances as input - assert len(instances) == len(inst_coords_list) + assert len(instances) == len(list(instances_and_coords)) # Check that each instance has the same number of points - for inst, inst_coords in zip(instances, inst_coords_list): + for inst, inst_coords in instances_and_coords: assert inst_coords.shape[1] == len(inst.skeleton) # (1, 15, 2) @@ -348,11 +358,11 @@ def test_recording_session_update_instances(multiview_min_session_labels: Labels session = multiview_min_session_labels.sessions[0] lf: LabeledFrame = multiview_min_session_labels[0] track = multiview_min_session_labels.tracks[0] - instances: List[Instance] = session.get_instances_across_views( + instances: Dict[Camcorder, Instance] = session.get_instances_across_views( frame_idx=lf.frame_idx, track=track ) - inst_coords_list = session.calculate_reprojected_points(instances) - for inst, inst_coords in zip(instances, inst_coords_list): + instances_and_coordinates = session.calculate_reprojected_points(instances) + for inst, inst_coords in instances_and_coordinates: assert inst_coords.shape == (1, len(inst.skeleton), 2) # Tracks, Nodes, 2 # Assert coord are different from original assert not np.array_equal(inst_coords, inst.points_array) @@ -363,12 +373,16 @@ def test_recording_session_update_instances(multiview_min_session_labels: Labels def test_recording_session_remove_video(multiview_min_session_labels: Labels): + """Test `RecordingSession.remove_video`.""" + labels = multiview_min_session_labels labels_cache = labels._cache session = labels.sessions[0] + video = session.videos[0] assert session.labels is not None assert video in session.videos + session.remove_video(video) assert labels_cache._session_by_video.get(video, None) is None assert video not in session.videos @@ -417,6 +431,7 @@ def test_recording_session_update_views(multiview_min_session_labels: Labels, ca track=track, ) messages = "".join([rec.message for rec in caplog.records]) + assert len(messages) == 0 # 1b. Not enough videos for video in session.videos[1:]: From c293d732969ae03b3b43fb6c9e644e31c7f6eb97 Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Fri, 13 Oct 2023 16:35:10 -0700 Subject: [PATCH 28/41] Add `TriangulateSession` command --- sleap/gui/commands.py | 456 +++++++++++++++++++++++++++++++++++++++++- 1 file changed, 451 insertions(+), 5 deletions(-) diff --git a/sleap/gui/commands.py b/sleap/gui/commands.py index 43bfa49eb..a575f10f8 100644 --- a/sleap/gui/commands.py +++ b/sleap/gui/commands.py @@ -36,13 +36,13 @@ class which inherits from `AppCommand` (or a more specialized class such as from enum import Enum from glob import glob from pathlib import Path, PurePath -from typing import Callable, Dict, Iterator, List, Optional, Tuple, Type +from typing import Callable, Dict, Iterator, List, Optional, Tuple, Type, Union import attr import cv2 import numpy as np -from qtpy import QtCore, QtWidgets, QtGui -from qtpy.QtWidgets import QMessageBox, QProgressDialog +from sleap_anipose import triangulate, reproject +from qtpy import QtCore, QtGui, QtWidgets from sleap.gui.dialogs.delete import DeleteDialog from sleap.gui.dialogs.filedialog import FileDialog @@ -50,11 +50,10 @@ class which inherits from `AppCommand` (or a more specialized class such as from sleap.gui.dialogs.merge import MergeDialog, ReplaceSkeletonTableDialog from sleap.gui.dialogs.message import MessageDialog from sleap.gui.dialogs.missingfiles import MissingFilesDialog -from sleap.gui.dialogs.query import QueryDialog from sleap.gui.state import GuiState from sleap.gui.suggestions import VideoFrameSuggestions from sleap.instance import Instance, LabeledFrame, Point, PredictedInstance, Track -from sleap.io.cameras import RecordingSession +from sleap.io.cameras import Camcorder, RecordingSession from sleap.io.convert import default_analysis_filename from sleap.io.dataset import Labels from sleap.io.format.adaptor import Adaptor @@ -615,6 +614,24 @@ def generateSuggestions(self, params: Dict): """Generates suggestions using given params dictionary.""" self.execute(GenerateSuggestions, **params) + def triangulateSession( + self, + frame_idx: Optional[int] = None, + video: Optional[Video] = None, + instance: Optional[Instance] = None, + session: Optional[RecordingSession] = None, + cams_to_include: Optional[List[Camcorder]] = None, + ): + """Triangulates `Instance`s for selected views in a `RecordingSession`.""" + self.execute( + TriangulateSession, + frame_idx=frame_idx, + video=video, + instance=instance, + session=session, + cams_to_include=cams_to_include, + ) + def openWebsite(self, url): """Open a website from URL using the native system browser.""" self.execute(OpenWebsite, url=url) @@ -3275,6 +3292,435 @@ def do_action(cls, context: CommandContext, params: dict): context.labels.append(current_frame) +class TriangulateSession(EditCommand): + topics = [UpdateTopic.frame, UpdateTopic.project_instances] + + @classmethod + def do_action(cls, context: CommandContext, params: dict): + """Triangulate, reproject, and update instances in a session at a frame index. + + Args: + context: The command context. + params: The command parameters. + video: The `Video` object to use. Default is current video. + session: The `RecordingSession` object to use. Default is current + video's session. + frame_idx: The frame index to use. Default is current frame index. + instance: The `Instance` object to use. Default is current instance. + show_dialog: If True, then show a warning dialog. Default is True. + ask_again: If True, then ask for views/instances again. Default is False. + """ + + # Check if we already ran ask + ask_again = params.get("ask_again", False) + + # Add "instances" to params dict without GUI, otherwise taken care of in ask + if ask_again: + params["show_dialog"] = False + enough_instances = cls.verify_views_and_instances( + context=context, params=params + ) + if not enough_instances: + return + + # Get params + video = params.get("video", None) or context.state["video"] + session = params.get("session", None) or context.labels.get_session(video) + instances = params["instances"] + + # Update instances + TriangulateSession.update_instances(session=session, instances=instances) + + @classmethod + def ask(cls, context: CommandContext, params: dict): + """Add "instances" to params dict if enough views/instances, warning user otherwise. + + Args: + context: The command context. + params: The command parameters. + video: The `Video` object to use. Default is current video. + session: The `RecordingSession` object to use. Default is current + video's session. + frame_idx: The frame index to use. Default is current frame index. + instance: The `Instance` object to use. Default is current instance. + show_dialog: If True, then show a warning dialog. Default is True. + + Returns: + True if enough views/instances for triangulation, False otherwise. + """ + + return cls.verify_views_and_instances(context=context, params=params) + + @classmethod + def verify_views_and_instances(cls, context: CommandContext, params: dict): + """Verify that there are enough views and instances to triangulate. + + Also adds "instances" to params dict if there are enough views and instances. + + Args: + context: The command context. + params: The command parameters. + video: The `Video` object used to lookup a `session` (if not provided). + Default is current video. + session: The `RecordingSession` object to use. Default is current + video's session. + frame_idx: The frame index to use. Default is current frame index. + instance: The `Instance` object to use. Default is current instance. + show_dialog: If True, then show a warning dialog. Default is True. + + Returns: + True if enough views/instances for triangulation, False otherwise. + """ + video = params.get("video", None) or context.state["video"] + session = params.get("session", None) or context.labels.get_session(video) + instance = params.get("instance", None) or context.state["instance"] + show_dialog = params.get("show_dialog", True) + + # This value could possibly be 0, so we can't use "or" + frame_idx = params.get("frame_idx", None) + frame_idx = frame_idx if frame_idx is not None else context.state["frame_idx"] + + # Return if we don't have a session for video or an instance selected. + if session is None or instance is None: + return + + track = instance.track + cams_to_include = params.get("cams_to_include", None) or session.linked_cameras + + # If not enough `Camcorder`s available/specified, then return + if not TriangulateSession.verify_enough_views( + context=context, + session=session, + cams_to_include=cams_to_include, + show_dialog=show_dialog, + ): + return False + + # Get all instances accross views at this frame index + instances = TriangulateSession.get_and_verify_enough_instances( + context=context, + session=session, + frame_idx=frame_idx, + cams_to_include=cams_to_include, + track=track, + show_dialog=show_dialog, + ) + + # Return if not enough instances + if not instance: + return False + + # Add instances to params dict + params["instances"] = instances + + return True + + @staticmethod + def get_and_verify_enough_instances( + session: RecordingSession, + frame_idx: int, + context: Optional[CommandContext] = None, + cams_to_include: Optional[List[Camcorder]] = None, + track: Optional[Track] = None, + show_dialog: bool = True, + ) -> Union[Dict[Camcorder, Instance], bool]: + """Get all instances accross views at this frame index. + + If not enough `Instance`s are available at this frame index, then return False. + + Args: + session: The `RecordingSession` containing the `Camcorder`s. + frame_idx: Frame index to get instances from (0-indexed). + context: The optional command context used to display a dialog. + cams_to_include: List of `Camcorder`s to include. Default is all. + track: `Track` object used to find instances accross views. Default is None. + show_dialog: If True, then show a warning dialog. Default is True. + + Returns: + Dict with `Camcorder` keys and `Instances` values (or False if not enough + instances at this frame index). + """ + try: + instances: Dict[ + Camcorder, Instance + ] = TriangulateSession.get_instances_across_views( + session=session, + frame_idx=frame_idx, + cams_to_include=cams_to_include, + track=track, + require_multiple_views=True, + ) + return instances + except ValueError: + # If not enough views or instances, then return + message = ( + "One or less instances found for frame " + f"{frame_idx} in {session.camera_cluster}. " + "Multiple instances accross multiple views needed to triangulate. " + "Skipping triangulation and reprojection." + ) + if show_dialog and context is not None: + QtWidgets.QMessageBox.warning(context.app, "Triangulation", message) + else: + logger.warning(message) + return False + + @staticmethod + def verify_enough_views( + session: RecordingSession, + context: Optional[CommandContext] = None, + cams_to_include: Optional[List[Camcorder]] = None, + show_dialog=True, + ): + """If not enough `Camcorder`s available/specified, then return False. + + Args: + session: The `RecordingSession` containing the `Camcorder`s. + context: The optional command context, used to display a dialog. + cams_to_include: List of `Camcorder`s to include. Default is all. + show_dialog: If True, then show a warning dialog. Default is True. + + Returns: + True if enough views are available, False otherwise. + """ + + if (cams_to_include is not None and len(cams_to_include) <= 1) or ( + len(session.videos) <= 1 + ): + message = ( + "One or less cameras available. " + "Multiple cameras needed to triangulate. " + "Skipping triangulation and reprojection." + ) + if show_dialog and context is not None: + QtWidgets.QMessageBox.warning(context.app, "Triangulation", message) + else: + logger.warning(message) + + return False + + return True + + @staticmethod + def get_instances_across_views( + session: RecordingSession, + frame_idx: int, + cams_to_include: Optional[List[Camcorder]] = None, + track: Optional["Track"] = None, + require_multiple_views: bool = False, + ) -> Dict[Camcorder, "Instance"]: + """Get all `Instances` accross all views at a given frame index. + + Args: + session: The `RecordingSession` containing the `Camcorder`s. + frame_idx: Frame index to get instances from (0-indexed). + cams_to_include: List of `Camcorder`s to include. Default is all. + track: `Track` object used to find instances accross views. Default is None. + require_multiple_views: If True, then raise and error if one or less views + or instances are found. + + Returns: + Dict with `Camcorder` keys and `Instances` values. + + Raises: + ValueError if require_multiple_view is true and one or less views or + instances are found. + """ + + # Get all views at this frame index + views: Dict[ + Camcorder, "LabeledFrame" + ] = TriangulateSession.get_all_views_at_frame( + session=session, + frame_idx=frame_idx, + cams_to_include=cams_to_include, + ) + + # If not enough views, then raise error + if len(views) <= 1 and require_multiple_views: + raise ValueError( + "One or less views found for frame " + f"{frame_idx} in {session.camera_cluster}." + ) + + # Find all instance accross all views + instances: Dict[Camcorder, "Instance"] = {} + for cam, lf in views.items(): + insts = lf.find(track=track) + if len(insts) > 0: + instances[cam] = insts[0] + + # If not enough instances for multiple views, then raise error + if len(instances) <= 1 and require_multiple_views: + raise ValueError( + "One or less instances found for frame " + f"{frame_idx} in {session.camera_cluster}." + ) + + return instances + + @staticmethod + def get_all_views_at_frame( + session: RecordingSession, + frame_idx, + cams_to_include: Optional[List[Camcorder]] = None, + ) -> Dict[Camcorder, "LabeledFrame"]: + """Get all views at a given frame index. + + Args: + session: The `RecordingSession` containing the `Camcorder`s. + frame_idx: Frame index to get views from (0-indexed). + cams_to_include: List of `Camcorder`s to include. Default is all. + + Returns: + Dict with `Camcorder` keys and `LabeledFrame` values. + """ + + views: Dict[Camcorder, "LabeledFrame"] = {} + videos: Dict[Camcorder, Video] = session.get_videos_from_selected_cameras( + cams_to_include=cams_to_include + ) + for cam, video in videos.items(): + lfs: List["LabeledFrame"] = session.labels.get((video, [frame_idx])) + if len(lfs) == 0: + logger.debug( + f"No LabeledFrames found for video {video} at {frame_idx}." + ) + continue + + lf = lfs[0] + if len(lf.instances) == 0: + logger.warning( + f"No Instances found for {lf}." + " There should not be empty LabeledFrames." + ) + continue + + views[cam] = lf + + return views + + @staticmethod + def get_instances_matrices(instances_ordered: List[Instance]) -> np.ndarray: + """Gather instances from views into M x F x T x N x 2 an array. + + M: # views, F: # frames = 1, T: # tracks = 1, N: # nodes, 2: x, y + + Args: + instances_ordered: List of instances from view (following the order of the + `RecordingSession.cameras` if using for triangulation). + + Returns: + M x F x T x N x 2 array of instances coordinates. + """ + + # Gather instances into M x F x T x N x 2 arrays (require specific order) + # (M = # views, F = # frames = 1, T = # tracks = 1, N = # nodes, 2 = x, y) + inst_coords = np.stack( + [inst.numpy() for inst in instances_ordered], axis=0 + ) # M x N x 2 + inst_coords = np.expand_dims(inst_coords, axis=1) # M x T=1 x N x 2 + inst_coords = np.expand_dims(inst_coords, axis=1) # M x F=1 x T=1 x N x 2 + + return inst_coords + + @staticmethod + def calculate_excluded_views( + session: RecordingSession, + instances: Dict[Camcorder, "Instance"], + ) -> Tuple[str]: + """Get excluded views from dictionary of `Camcorder` to `Instance`. + + Args: + session: The `RecordingSession` containing the `Camcorder`s. + instances: Dict with `Camcorder` key and `Instance` values. + + Returns: + Tuple of excluded view names. + """ + + # Calculate excluded views from included cameras + cams_excluded = set(session.cameras) - set(instances.keys()) + excluded_views = tuple(cam.name for cam in cams_excluded) + + return excluded_views + + @staticmethod + def calculate_reprojected_points( + session: RecordingSession, instances: Dict[Camcorder, "Instance"] + ) -> Iterator[Tuple["Instance", np.ndarray]]: + """Triangulate and reproject instance coordinates. + + Note that the order of the instances in the list must match the order of the + cameras in the `CameraCluster`, that is why we require instances be passed in as + a dictionary mapping back to its `Camcorder`. + https://github.com/lambdaloop/aniposelib/blob/d03b485c4e178d7cff076e9fe1ac36837db49158/aniposelib/cameras.py#L491 + + Args: + instances: Dict with `Camcorder` keys and `Instance` values. + + Returns: + A zip of the ordered instances and the related reprojected coordinates. Each + element in the coordinates is a numpy array of shape (1, N, 2) where N is + the number of nodes. + """ + + # TODO (LM): Support multiple tracks and optimize + + excluded_views = TriangulateSession.calculate_excluded_views( + session=session, instances=instances + ) + instances_ordered = [ + instances[cam] for cam in session.cameras if cam in instances + ] + + # Gather instances into M x F x T x N x 2 arrays (require specific order) + # (M = # views, F = # frames = 1, T = # tracks = 1, N = # nodes, 2 = x, y) + inst_coords = TriangulateSession.get_instances_matrices( + instances_ordered=instances_ordered + ) # M x F=1 x T=1 x N x 2 + points_3d = triangulate( + p2d=inst_coords, + calib=session.camera_cluster, + excluded_views=excluded_views, + ) # F=1, T=1, N, 3 + + # Update the views with the new 3D points + inst_coords_reprojected = reproject( + points_3d, calib=session.camera_cluster, excluded_views=excluded_views + ) # M x F=1 x T=1 x N x 2 + insts_coords_list: List[np.ndarray] = np.split( + inst_coords_reprojected.squeeze(), inst_coords_reprojected.shape[0], axis=0 + ) # len(M) of T=1 x N x 2 + + return zip(instances_ordered, insts_coords_list) + + @staticmethod + def update_instances(session, instances: Dict[Camcorder, Instance]): + """Triangulate, reproject, and update coordinates of `Instances`. + + Args: + session: The `RecordingSession` containing the `Camcorder`s. + instances: Dict with `Camcorder` keys and `Instance` values. + + Returns: + None + """ + + # Triangulate and reproject instance coordinates. + instances_and_coords: Iterator[ + Tuple["Instance", np.ndarray] + ] = TriangulateSession.calculate_reprojected_points( + session=session, instances=instances + ) + + # Update the instance coordinates. + for inst, inst_coord in instances_and_coords: + inst.update_points( + points=inst_coord[0], exclude_complete=True + ) # inst_coord is (1, N, 2) + + def open_website(url: str): """Open website in default browser. From 001c8493dc9d6a68544511003b27cb600c88b231 Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Fri, 13 Oct 2023 16:37:19 -0700 Subject: [PATCH 29/41] Add tests for `TriangulateSession` --- tests/gui/test_commands.py | 346 ++++++++++++++++++++++++++++++++++++- 1 file changed, 345 insertions(+), 1 deletion(-) diff --git a/tests/gui/test_commands.py b/tests/gui/test_commands.py index 6048e13ef..35bef05d1 100644 --- a/tests/gui/test_commands.py +++ b/tests/gui/test_commands.py @@ -2,8 +2,9 @@ import sys import time from pathlib import Path, PurePath -from typing import List +from typing import Dict, List +import numpy as np import pytest from sleap import PredictedInstance, Skeleton, Track @@ -17,9 +18,11 @@ RemoveVideo, ReplaceVideo, SaveProjectAs, + TriangulateSession, get_new_version_filename, ) from sleap.instance import Instance, LabeledFrame +from sleap.io.cameras import Camcorder from sleap.io.convert import default_analysis_filename from sleap.io.dataset import Labels from sleap.io.format.adaptor import Adaptor @@ -952,3 +955,344 @@ def test_AddSession( assert len(labels.sessions) == 2 assert context.state["session"] is session assert labels.sessions[1] is not session + + +def test_triangulate_session_get_all_views_at_frame( + multiview_min_session_labels: Labels, +): + labels = multiview_min_session_labels + session = labels.sessions[0] + lf = labels.labeled_frames[0] + frame_idx = lf.frame_idx + + # Test with no cams_to_include, expect views from all linked cameras + views = TriangulateSession.get_all_views_at_frame(session, frame_idx) + assert len(views) == len(session.linked_cameras) + for cam in session.linked_cameras: + assert views[cam].frame_idx == frame_idx + assert views[cam].video == session[cam] + + # Test with cams_to_include, expect views from only those cameras + cams_to_include = session.linked_cameras[0:2] + views = TriangulateSession.get_all_views_at_frame( + session, frame_idx, cams_to_include=cams_to_include + ) + assert len(views) == len(cams_to_include) + for cam in cams_to_include: + assert views[cam].frame_idx == frame_idx + assert views[cam].video == session[cam] + + +def test_triangulate_session_get_instances_across_views( + multiview_min_session_labels: Labels, +): + + labels = multiview_min_session_labels + session = labels.sessions[0] + + # Test get_instances_across_views + lf: LabeledFrame = labels[0] + track = labels.tracks[0] + instances: Dict[ + Camcorder, Instance + ] = TriangulateSession.get_instances_across_views( + session=session, frame_idx=lf.frame_idx, track=track + ) + assert len(instances) == len(session.videos) + for vid in session.videos: + cam = session[vid] + inst = instances[cam] + assert inst.frame_idx == lf.frame_idx + assert inst.track == track + assert inst.video == vid + + # Try with excluding cam views + lf: LabeledFrame = labels[2] + track = labels.tracks[1] + cams_to_include = session.linked_cameras[:4] + videos_to_include: Dict[ + Camcorder, Video + ] = session.get_videos_from_selected_cameras(cams_to_include=cams_to_include) + assert len(cams_to_include) == 4 + assert len(videos_to_include) == len(cams_to_include) + instances: Dict[ + Camcorder, Instance + ] = TriangulateSession.get_instances_across_views( + session=session, + frame_idx=lf.frame_idx, + track=track, + cams_to_include=cams_to_include, + ) + assert len(instances) == len( + videos_to_include + ) # May not be true if no instances at that frame + for cam, vid in videos_to_include.items(): + inst = instances[cam] + assert inst.frame_idx == lf.frame_idx + assert inst.track == track + assert inst.video == vid + + # Try with only a single view + cams_to_include = [session.linked_cameras[0]] + with pytest.raises(ValueError): + instances = TriangulateSession.get_instances_across_views( + session=session, + frame_idx=lf.frame_idx, + cams_to_include=cams_to_include, + track=track, + require_multiple_views=True, + ) + + # Try with multiple views, but not enough instances + track = labels.tracks[1] + cams_to_include = session.linked_cameras[4:6] + with pytest.raises(ValueError): + instances = TriangulateSession.get_instances_across_views( + session=session, + frame_idx=lf.frame_idx, + cams_to_include=cams_to_include, + track=track, + require_multiple_views=True, + ) + + +def test_triangulate_session_get_and_verify_enough_instances( + multiview_min_session_labels: Labels, + caplog, +): + labels = multiview_min_session_labels + session = labels.sessions[0] + lf = labels.labeled_frames[0] + track = labels.tracks[1] + + # Test with no cams_to_include, expect views from all linked cameras + instances = TriangulateSession.get_and_verify_enough_instances( + session=session, frame_idx=lf.frame_idx, track=track + ) + assert len(instances) == 6 # Some views don't have an instance at this track + for cam in session.linked_cameras: + if cam.name in ["side", "sideL"]: # The views that don't have an instance + continue + assert instances[cam].frame_idx == lf.frame_idx + assert instances[cam].track == track + assert instances[cam].video == session[cam] + + # Test with cams_to_include, expect views from only those cameras + cams_to_include = session.linked_cameras[-2:] + instances = TriangulateSession.get_and_verify_enough_instances( + session=session, + frame_idx=lf.frame_idx, + cams_to_include=cams_to_include, + track=track, + ) + assert len(instances) == len(cams_to_include) + for cam in cams_to_include: + assert instances[cam].frame_idx == lf.frame_idx + assert instances[cam].track == track + assert instances[cam].video == session[cam] + + # Test with not enough instances, expect views from only those cameras + cams_to_include = session.linked_cameras[0:2] + instances = TriangulateSession.get_and_verify_enough_instances( + session=session, frame_idx=lf.frame_idx, cams_to_include=cams_to_include + ) + assert isinstance(instances, bool) + assert not instances + messages = "".join([rec.message for rec in caplog.records]) + assert "One or less instances found for frame" in messages + + +def test_triangulate_session_verify_enough_views( + multiview_min_session_labels: Labels, caplog +): + labels = multiview_min_session_labels + session = labels.sessions[0] + + # Test with enough views + enough_views = TriangulateSession.verify_enough_views( + session=session, show_dialog=False + ) + assert enough_views + messages = "".join([rec.message for rec in caplog.records]) + assert len(messages) == 0 + caplog.clear() + + # Test with not enough views + cams_to_include = [session.linked_cameras[0]] + enough_views = TriangulateSession.verify_enough_views( + session=session, cams_to_include=cams_to_include, show_dialog=False + ) + assert not enough_views + messages = "".join([rec.message for rec in caplog.records]) + assert "One or less cameras available." in messages + + +def test_triangulate_session_verify_views_and_instances( + multiview_min_session_labels: Labels, +): + labels = multiview_min_session_labels + session = labels.sessions[0] + + # Test with enough views and instances + lf = labels.labeled_frames[0] + instance = lf.instances[0] + + context = CommandContext.from_labels(labels) + params = { + "video": session.videos[0], + "session": session, + "frame_idx": lf.frame_idx, + "instance": instance, + "show_dialog": False, + } + enough_views = TriangulateSession.verify_views_and_instances(context, params) + assert enough_views + assert "instances" in params + + # Test with not enough views + cams_to_include = [session.linked_cameras[0]] + params = { + "video": session.videos[0], + "session": session, + "frame_idx": lf.frame_idx, + "instance": instance, + "cams_to_include": cams_to_include, + "show_dialog": False, + } + enough_views = TriangulateSession.verify_views_and_instances(context, params) + assert not enough_views + assert "instances" not in params + + +def test_triangulate_session_calculate_reprojected_points( + multiview_min_session_labels: Labels, +): + """Test `TriangulateSession.calculate_reprojected_points`.""" + + session = multiview_min_session_labels.sessions[0] + lf: LabeledFrame = multiview_min_session_labels[0] + track = multiview_min_session_labels.tracks[0] + instances: Dict[ + Camcorder, Instance + ] = TriangulateSession.get_instances_across_views( + session=session, frame_idx=lf.frame_idx, track=track + ) + instances_and_coords = TriangulateSession.calculate_reprojected_points( + session=session, instances=instances + ) + + # Check that we get the same number of instances as input + assert len(instances) == len(list(instances_and_coords)) + + # Check that each instance has the same number of points + for inst, inst_coords in instances_and_coords: + assert inst_coords.shape[1] == len(inst.skeleton) # (1, 15, 2) + + +def test_triangulate_session_get_instances_matrices( + multiview_min_session_labels: Labels, +): + """Test `TriangulateSession.get_instance_matrices`.""" + labels = multiview_min_session_labels + session = labels.sessions[0] + lf: LabeledFrame = labels[0] + track = labels.tracks[0] + instances: Dict[ + Camcorder, Instance + ] = TriangulateSession.get_instances_across_views( + session=session, frame_idx=lf.frame_idx, track=track + ) + instances_matrices = TriangulateSession.get_instances_matrices( + instances_ordered=instances.values() + ) + + # Verify shape + n_views = len(instances) + n_frames = 1 + n_tracks = 1 + n_nodes = len(labels.skeleton) + assert instances_matrices.shape == (n_views, n_frames, n_tracks, n_nodes, 2) + + +def test_triangulate_session_update_instances(multiview_min_session_labels: Labels): + """Test `RecordingSession.update_instances`.""" + + # Test update_instances + session = multiview_min_session_labels.sessions[0] + lf: LabeledFrame = multiview_min_session_labels[0] + track = multiview_min_session_labels.tracks[0] + instances: Dict[ + Camcorder, Instance + ] = TriangulateSession.get_instances_across_views( + session=session, frame_idx=lf.frame_idx, track=track + ) + instances_and_coordinates = TriangulateSession.calculate_reprojected_points( + session=session, instances=instances + ) + for inst, inst_coords in instances_and_coordinates: + assert inst_coords.shape == (1, len(inst.skeleton), 2) # Tracks, Nodes, 2 + # Assert coord are different from original + assert not np.array_equal(inst_coords, inst.points_array) + + # Just run for code coverage testing, do not test output here (race condition) + # (see "functional core, imperative shell" pattern) + TriangulateSession.update_instances(session=session, instances=instances) + + +def test_triangulate_session_do_action(multiview_min_session_labels: Labels): + """Test `TriangulateSession.do_action`.""" + + labels = multiview_min_session_labels + session = labels.sessions[0] + + # Test with enough views and instances + lf = labels.labeled_frames[0] + instance = lf.instances[0] + + context = CommandContext.from_labels(labels) + params = { + "video": session.videos[0], + "session": session, + "frame_idx": lf.frame_idx, + "instance": instance, + "ask_again": True, + } + TriangulateSession.do_action(context, params) + + # Test with not enough views + cams_to_include = [session.linked_cameras[0]] + params = { + "video": session.videos[0], + "session": session, + "frame_idx": lf.frame_idx, + "instance": instance, + "cams_to_include": cams_to_include, + "ask_again": True, + } + TriangulateSession.do_action(context, params) + + +def test_triangulate_session(multiview_min_session_labels: Labels): + """Test `TriangulateSession`, if""" + + labels = multiview_min_session_labels + session = labels.sessions[0] + video = session.videos[0] + lf = labels.labeled_frames[0] + instance = lf.instances[0] + context = CommandContext.from_labels(labels) + + # Test with enough views and instances so we don't get any GUI pop-ups + context.triangulateSession( + frame_idx=lf.frame_idx, + video=video, + instance=instance, + session=session, + ) + + # Test with using state to gather params + context.state["session"] = session + context.state["video"] = video + context.state["instance"] = instance + context.state["frame_idx"] = lf.frame_idx + context.triangulateSession() From 06dff9f6633a6c300b4d9e3e57af72f9461bf562 Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Fri, 13 Oct 2023 16:43:27 -0700 Subject: [PATCH 30/41] Handover call to triangulate to `TriangulateSession` --- sleap/gui/app.py | 15 +-------------- 1 file changed, 1 insertion(+), 14 deletions(-) diff --git a/sleap/gui/app.py b/sleap/gui/app.py index 20fac0bc6..21a66382f 100644 --- a/sleap/gui/app.py +++ b/sleap/gui/app.py @@ -1226,27 +1226,14 @@ def _after_plot_update(self, frame_idx): """Run after plot is updated, but stay on same frame.""" video = self.state["video"] - instance = self.state["instance"] # Redraw trails overlay: TrackTrailOverlay = self.overlays["trails"] overlay.redraw(video, frame_idx) # Replot connected views for multi-camera projects - session = self.labels.get_session(video) cams_to_include = None # TODO: make this configurable via GUI - if session is not None and instance is not None: - track = instance.track - session.update_views( - frame_idx=frame_idx, - track=track, - cams_to_include=cams_to_include, - ) - - # TODO(LM): Move this to a dock for replotting on demand - # Replot instance nodes (but keep same QtInstance) - for inst in self.player.view.instances: - inst.updatePoints(complete=False, user_change=False) + self.commands.triangulateSession(cams_to_include=cams_to_include) def _after_plot_change(self, player, frame_idx, selected_inst): """Called each time a new frame is drawn.""" From 4706fb25bbc4e3ded97fb20a90c6d2e2173c29c4 Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Fri, 13 Oct 2023 16:50:47 -0700 Subject: [PATCH 31/41] Remove triangulate functionality from `RecordingSession` --- sleap/io/cameras.py | 228 --------------------------------------- tests/io/test_cameras.py | 166 ---------------------------- 2 files changed, 394 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index aa31afce3..0cf830feb 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -572,234 +572,6 @@ def get_videos_from_selected_cameras( return videos - def get_all_views_at_frame( - self, - frame_idx, - cams_to_include: Optional[List[Camcorder]] = None, - ) -> Dict[Camcorder, "LabeledFrame"]: - """Get all views at a given frame index. - - Args: - frame_idx: Frame index to get views from (0-indexed). - cams_to_include: List of `Camcorder`s to include. Default is all. - - Returns: - Dict with `Camcorder` keys and `LabeledFrame` values. - """ - - views: Dict[Camcorder, "LabeledFrame"] = {} - videos: Dict[Camcorder, Video] = self.get_videos_from_selected_cameras( - cams_to_include=cams_to_include - ) - for cam, video in videos.items(): - lfs: List["LabeledFrame"] = self.labels.get((video, [frame_idx])) - if len(lfs) == 0: - logger.debug( - f"No LabeledFrames found for video {video} at {frame_idx}." - ) - continue - - lf = lfs[0] - if len(lf.instances) == 0: - logger.warning( - f"No Instances found for {lf}." - " There should not be empty LabeledFrames." - ) - continue - - views[cam] = lf - - return views - - def get_instances_across_views( - self, - frame_idx: int, - cams_to_include: Optional[List[Camcorder]] = None, - track: Optional["Track"] = None, - require_multiple_views: bool = False, - ) -> Dict[Camcorder, "Instance"]: - """Get all `Instances` accross all views at a given frame index. - - Args: - frame_idx: Frame index to get instances from (0-indexed). - cams_to_include: List of `Camcorder`s to include. Default is all. - track: `Track` object used to find instances accross views. Default is None. - require_multiple_views: If True, then raise and error if one or less views - or instances are found. - - Returns: - Dict with `Camcorder` keys and `Instances` values. - - Raises: - ValueError if require_multiple_view is true and one or less views or - instances are found. - """ - - # Get all views at this frame index - views: Dict[Camcorder, "LabeledFrame"] = self.get_all_views_at_frame( - frame_idx=frame_idx, - cams_to_include=cams_to_include, - ) - - # If not enough views, then raise error - if len(views) <= 1 and require_multiple_views: - raise ValueError( - "One or less views found for frame " - f"{frame_idx} in {self.camera_cluster}." - ) - - # Find all instance accross all views - instances: Dict[Camcorder, "Instance"] = {} - for cam, lf in views.items(): - insts = lf.find(track=track) - if len(insts) > 0: - instances[cam] = insts[0] - - # If not enough instances for multiple views, then raise error - if len(instances) <= 1 and require_multiple_views: - raise ValueError( - "One or less instances found for frame " - f"{frame_idx} in {self.camera_cluster}." - ) - - return instances - - def calculate_excluded_views( - self, - instances: Dict[Camcorder, "Instance"], - ) -> Tuple[str]: - """Get excluded views from dictionary of `Camcorder` to `Instance`. - - Args: - instances: Dict with `Camcorder` key and `Instance` values. - - Returns: - Tuple of excluded view names. - """ - - # Calculate excluded views from included cameras - cams_excluded = set(self.cameras) - set(instances.keys()) - excluded_views = tuple(cam.name for cam in cams_excluded) - - return excluded_views - - def calculate_reprojected_points( - self, instances: Dict[Camcorder, "Instance"] - ) -> Iterator[Tuple["Instance", np.ndarray]]: - """Triangulate and reproject instance coordinates. - - Note that the order of the instances in the list must match the order of the - cameras in the `CameraCluster`, that is why we require instances be passed in as - a dictionary mapping back to its `Camcorder`. - https://github.com/lambdaloop/aniposelib/blob/d03b485c4e178d7cff076e9fe1ac36837db49158/aniposelib/cameras.py#L491 - - Args: - instances: Dict with `Camcorder` keys and `Instance` values. - - Returns: - A zip of the ordered instances and the related reprojected coordinates. Each - element in the coordinates is a numpy array of shape (1, N, 2) where N is - the number of nodes. - """ - - # TODO (LM): Support multiple tracks and optimize - - excluded_views = self.calculate_excluded_views(instances=instances) - instances_ordered = [instances[cam] for cam in self.cameras if cam in instances] - - # Gather instances into M x F x T x N x 2 arrays (require specific order) - # (M = # views, F = # frames = 1, T = # tracks = 1, N = # nodes, 2 = x, y) - inst_coords = np.stack( - [inst.numpy() for inst in instances_ordered], axis=0 - ) # M x N x 2 - inst_coords = np.expand_dims(inst_coords, axis=1) # M x T=1 x N x 2 - inst_coords = np.expand_dims(inst_coords, axis=1) # M x F=1 x T=1 x N x 2 - points_3d = triangulate( - p2d=inst_coords, - calib=self.camera_cluster, - excluded_views=excluded_views, - ) # F=1, T=1, N, 3 - - # Update the views with the new 3D points - inst_coords_reprojected = reproject( - points_3d, calib=self.camera_cluster, excluded_views=excluded_views - ) # M x F=1 x T=1 x N x 2 - insts_coords_list: List[np.ndarray] = np.split( - inst_coords_reprojected.squeeze(), inst_coords_reprojected.shape[0], axis=0 - ) # len(M) of T=1 x N x 2 - - return zip(instances_ordered, insts_coords_list) - - def update_instances(self, instances: Dict[Camcorder, "Instance"]): - """Triangulate, reproject, and update coordinates of `Instances`. - - Args: - instances: Dict with `Camcorder` keys and `Instance` values. - - Returns: - None - """ - - # Triangulate and reproject instance coordinates. - instances_and_coords: Iterator[ - Tuple["Instance", np.ndarray] - ] = self.calculate_reprojected_points(instances) - - # Update the instance coordinates. - for inst, inst_coord in instances_and_coords: - inst.update_points( - inst_coord[0], exclude_complete=True - ) # inst_coord is (1, N, 2) - - def update_views( - self, - frame_idx: int, - cams_to_include: Optional[List[Camcorder]] = None, - track: Optional["Track"] = None, - ): - """Update the views of the `RecordingSession`. - - Args: - frame_idx: Frame index to update (0-indexed). - cams_to_include: List of `Camcorder`s to include. Default is all. - track: `Track` object used to find instances accross views for updating. - - Returns: - None - """ - - # If not enough `Camcorder`s available/specified, then return - if (cams_to_include is not None and len(cams_to_include) <= 1) or ( - len(self.videos) <= 1 - ): - logger.warning( - "One or less cameras available. " - "Multiple cameras needed to triangulate. " - "Skipping triangulation and reprojection." - ) - return - - # Get all instances accross views at this frame index - try: - instances: Dict[Camcorder, "Instance"] = self.get_instances_across_views( - frame_idx, - cams_to_include=cams_to_include, - track=track, - require_multiple_views=True, - ) - except ValueError: - # If not enough views or instances, then return - logger.warning( - "One or less instances found for frame " - f"{frame_idx} in {self.camera_cluster}. " - "Multiple instances accross multiple views needed to triangulate. " - "Skipping triangulation and reprojection." - ) - return - - # Update the instance coordinates - self.update_instances(instances) - def __attrs_post_init__(self): self.camera_cluster.add_session(self) diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 370908cd0..35ecaa50e 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -266,112 +266,6 @@ def test_recording_session_get_videos_from_selected_cameras( assert session.get_video(cam) == selected_videos[cam] -def test_recording_session_get_instances_across_views( - multiview_min_session_labels: Labels, -): - - labels = multiview_min_session_labels - session = labels.sessions[0] - - # Test get_instances_across_views - lf: LabeledFrame = labels[0] - track = labels.tracks[0] - instances: Dict[Camcorder, Instance] = session.get_instances_across_views( - frame_idx=lf.frame_idx, track=track - ) - assert len(instances) == len(session.videos) - for vid in session.videos: - cam = session[vid] - inst = instances[cam] - assert inst.frame_idx == lf.frame_idx - assert inst.track == track - assert inst.video == vid - - # Try with excluding cam views - lf: LabeledFrame = labels[2] - track = labels.tracks[1] - cams_to_include = session.linked_cameras[:4] - videos_to_include: Dict[ - Camcorder, Video - ] = session.get_videos_from_selected_cameras(cams_to_include=cams_to_include) - assert len(cams_to_include) == 4 - assert len(videos_to_include) == len(cams_to_include) - instances: Dict[Camcorder, Instance] = session.get_instances_across_views( - frame_idx=lf.frame_idx, track=track, cams_to_include=cams_to_include - ) - assert len(instances) == len( - videos_to_include - ) # May not be true if no instances at that frame - for cam, vid in videos_to_include.items(): - inst = instances[cam] - assert inst.frame_idx == lf.frame_idx - assert inst.track == track - assert inst.video == vid - - # Try with only a single view - cams_to_include = [session.linked_cameras[0]] - with pytest.raises(ValueError): - instances = session.get_instances_across_views( - frame_idx=lf.frame_idx, - cams_to_include=cams_to_include, - track=track, - require_multiple_views=True, - ) - - # Try with multiple views, but not enough instances - track = labels.tracks[1] - cams_to_include = session.linked_cameras[4:6] - with pytest.raises(ValueError): - instances = session.get_instances_across_views( - frame_idx=lf.frame_idx, - cams_to_include=cams_to_include, - track=track, - require_multiple_views=True, - ) - - -def test_recording_session_calculate_reprojected_points( - multiview_min_session_labels: Labels, -): - """Test `RecordingSession.calculate_reprojected_points`.""" - - session = multiview_min_session_labels.sessions[0] - lf: LabeledFrame = multiview_min_session_labels[0] - track = multiview_min_session_labels.tracks[0] - instances: Dict[Camcorder, Instance] = session.get_instances_across_views( - frame_idx=lf.frame_idx, track=track - ) - instances_and_coords = session.calculate_reprojected_points(instances) - - # Check that we get the same number of instances as input - assert len(instances) == len(list(instances_and_coords)) - - # Check that each instance has the same number of points - for inst, inst_coords in instances_and_coords: - assert inst_coords.shape[1] == len(inst.skeleton) # (1, 15, 2) - - -def test_recording_session_update_instances(multiview_min_session_labels: Labels): - """Test `RecordingSession.update_instances`.""" - - # Test update_instances - session = multiview_min_session_labels.sessions[0] - lf: LabeledFrame = multiview_min_session_labels[0] - track = multiview_min_session_labels.tracks[0] - instances: Dict[Camcorder, Instance] = session.get_instances_across_views( - frame_idx=lf.frame_idx, track=track - ) - instances_and_coordinates = session.calculate_reprojected_points(instances) - for inst, inst_coords in instances_and_coordinates: - assert inst_coords.shape == (1, len(inst.skeleton), 2) # Tracks, Nodes, 2 - # Assert coord are different from original - assert not np.array_equal(inst_coords, inst.points_array) - - # Just run for code coverage testing, do not test output here (race condition) - # (see "functional core, imperative shell" pattern) - session.update_instances(instances) - - def test_recording_session_remove_video(multiview_min_session_labels: Labels): """Test `RecordingSession.remove_video`.""" @@ -386,63 +280,3 @@ def test_recording_session_remove_video(multiview_min_session_labels: Labels): session.remove_video(video) assert labels_cache._session_by_video.get(video, None) is None assert video not in session.videos - - -def test_recording_session_update_views(multiview_min_session_labels: Labels, caplog): - """Test `RecordingSession.update_views`.""" - - labels = multiview_min_session_labels - session = labels.sessions[0] - lf: LabeledFrame = labels[2] - - # 1a. Not enough cams included - cams_to_include = [session.linked_cameras[0]] - track = labels.tracks[0] - session.update_views( - frame_idx=lf.frame_idx, - cams_to_include=cams_to_include, - track=track, - ) - messages = "".join([rec.message for rec in caplog.records]) - assert "One or less cameras available." in messages - caplog.clear() - - # 2a. Not enough instances - track = labels.tracks[1] - cams_to_include = session.linked_cameras[4:6] - session.update_views( - frame_idx=lf.frame_idx, - cams_to_include=cams_to_include, - track=track, - ) - messages = "".join([rec.message for rec in caplog.records]) - assert "One or less instances found for frame" in messages - caplog.clear() - - # 2b. Not enough views - ... - - # 3. Enough views and instances - cams_to_include = session.linked_cameras[:4] - track = labels.tracks[1] - session.update_views( - frame_idx=lf.frame_idx, - cams_to_include=cams_to_include, - track=track, - ) - messages = "".join([rec.message for rec in caplog.records]) - assert len(messages) == 0 - - # 1b. Not enough videos - for video in session.videos[1:]: - session.remove_video(video) - video = session.videos[0] - cams_to_include = [session[video]] - session.update_views( - frame_idx=lf.frame_idx, - cams_to_include=cams_to_include, - track=track, - ) - messages = "".join([rec.message for rec in caplog.records]) - assert "One or less cameras available." in messages - caplog.clear() From 7cc7a5aef69e43d2f9ebba6d6504b0cfb9d00eb1 Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Tue, 5 Dec 2023 15:59:02 -0800 Subject: [PATCH 32/41] Fix verify instances bug via typo --- sleap/gui/commands.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sleap/gui/commands.py b/sleap/gui/commands.py index b3c83650d..93e382088 100644 --- a/sleap/gui/commands.py +++ b/sleap/gui/commands.py @@ -3502,7 +3502,7 @@ def verify_views_and_instances(cls, context: CommandContext, params: dict): ) # Return if not enough instances - if not instance: + if not instances: return False # Add instances to params dict From a2326d38500b5bf87dbe857353b8ba63bb2057ea Mon Sep 17 00:00:00 2001 From: roomrys <38435167+roomrys@users.noreply.github.com> Date: Tue, 5 Dec 2023 16:08:37 -0800 Subject: [PATCH 33/41] Better warning messages (w/o dialog pop-ups!) --- sleap/gui/commands.py | 35 +++++++++++++++-------------------- tests/gui/test_commands.py | 2 +- 2 files changed, 16 insertions(+), 21 deletions(-) diff --git a/sleap/gui/commands.py b/sleap/gui/commands.py index 93e382088..062cf0f76 100644 --- a/sleap/gui/commands.py +++ b/sleap/gui/commands.py @@ -3546,18 +3546,11 @@ def get_and_verify_enough_instances( require_multiple_views=True, ) return instances - except ValueError: - # If not enough views or instances, then return - message = ( - "One or less instances found for frame " - f"{frame_idx} in {session.camera_cluster}. " - "Multiple instances accross multiple views needed to triangulate. " - "Skipping triangulation and reprojection." - ) - if show_dialog and context is not None: - QtWidgets.QMessageBox.warning(context.app, "Triangulation", message) - else: - logger.warning(message) + except Exception as e: + # If not enough views, instances or some other error, then return + message = str(e) + message += "\n\tSkipping triangulation and reprojection." + logger.warning(message) return False @staticmethod @@ -3622,6 +3615,14 @@ def get_instances_across_views( instances are found. """ + def _message(views: bool): + views_or_instances = "views" if views else "instances" + return ( + f"One or less {views_or_instances} found for frame " + f"{frame_idx} in {session.camera_cluster}. " + "Multiple instances accross multiple views needed to triangulate." + ) + # Get all views at this frame index views: Dict[ Camcorder, "LabeledFrame" @@ -3633,10 +3634,7 @@ def get_instances_across_views( # If not enough views, then raise error if len(views) <= 1 and require_multiple_views: - raise ValueError( - "One or less views found for frame " - f"{frame_idx} in {session.camera_cluster}." - ) + raise ValueError(_message(views=True)) # Find all instance accross all views instances: Dict[Camcorder, "Instance"] = {} @@ -3647,10 +3645,7 @@ def get_instances_across_views( # If not enough instances for multiple views, then raise error if len(instances) <= 1 and require_multiple_views: - raise ValueError( - "One or less instances found for frame " - f"{frame_idx} in {session.camera_cluster}." - ) + raise ValueError(_message(views=False)) return instances diff --git a/tests/gui/test_commands.py b/tests/gui/test_commands.py index 35bef05d1..c20af8614 100644 --- a/tests/gui/test_commands.py +++ b/tests/gui/test_commands.py @@ -1273,7 +1273,7 @@ def test_triangulate_session_do_action(multiview_min_session_labels: Labels): def test_triangulate_session(multiview_min_session_labels: Labels): - """Test `TriangulateSession`, if""" + """Test `TriangulateSession`.""" labels = multiview_min_session_labels session = labels.sessions[0] From 2f56a1cb5f45d9b9d96cc5882f4ec420b5d9901a Mon Sep 17 00:00:00 2001 From: Liezl Maree <38435167+roomrys@users.noreply.github.com> Date: Thu, 18 Apr 2024 12:55:49 -0700 Subject: [PATCH 34/41] (3a -> 3) Add method to match instances across views (#1579) * Update methods to allow triangulating multiple instances at once * Return instances and coords as a dictionary with cams * Update get_instance_across_views to handle multiple frames * [wip] Update calculate reprojected points to support multiple frames * Finish support for multi-frame reprojection * Remove code to put in next PR * (3b -> 3a) Add method to get single instance permutations (#1586) * Add method to get single instance permutations * Append a dummy instance for missing instances * Correct 'permutations' to 'products' * (3c -> 3b) Add method to test instance grouping (#1599) * (3d -> 3c) Add method for multi instance products (#1605) * (3e -> 3a) Add `InstanceGroup` class (#1618) * Add method to get single instance permutations * Add method and (failing) test to get instance grouping * Append a dummy instance for missing instances * Update tests to accept a dummy instance * Add initial InstanceGroup class * Few extra tests for `InstanceGroup` * Remember instance grouping after testing hypotheses * Use reconsumable iterator for reprojected coords * Only triangulate user instances, add fixture, update tests * Normalize instance reprojection errors * Add `locked`, `_dummy_instance`, `numpy`, and `update_points` * Allow `PredictedPoint`s to be updated as well * Add tests for new attributes and methods * Add methods to create, add, replace, and remove instances * Use PredictedInstance for new/dummy instances * (3f -> 3e) Add `FrameGroup` class (#1665) * (3g -> 3f) Use frame group for triangulation (#1693) * Only use user-`Instance`s for triangulation * Remove unused code * Use `LabeledFrame` class instead of dummy labeled frame * Limit which methods can update `Labels.labeled_frames` * Update cache when Labels. remove_session_video * Remove RecordingSession.instance_groups * [wip] Maintain cached FrameGroup dictionaries * Add unique name (per FrameGroup) requirement for InstanceGroup * Lint * Fix remove_video bug * Add RecordingSession.new_frame_group method * Add TODO comments for later * Fix RecordingSesssion.remove_video bug * Remove FrameGroup._frame_idx_registry class attribute --- sleap/gui/commands.py | 461 ++---- sleap/gui/dialogs/delete.py | 2 +- sleap/instance.py | 25 +- sleap/io/cameras.py | 1281 ++++++++++++++++- sleap/io/dataset.py | 39 +- .../min_session_user_labeled.slp | Bin 0 -> 60444 bytes tests/fixtures/datasets.py | 8 + tests/gui/test_commands.py | 342 ----- tests/io/test_cameras.py | 193 ++- tests/io/test_dataset.py | 2 +- 10 files changed, 1607 insertions(+), 746 deletions(-) create mode 100644 tests/data/cameras/minimal_session/min_session_user_labeled.slp diff --git a/sleap/gui/commands.py b/sleap/gui/commands.py index 062cf0f76..ed9c377d2 100644 --- a/sleap/gui/commands.py +++ b/sleap/gui/commands.py @@ -35,8 +35,9 @@ class which inherits from `AppCommand` (or a more specialized class such as import traceback from enum import Enum from glob import glob +from itertools import permutations, product from pathlib import Path, PurePath -from typing import Callable, Dict, Iterator, List, Optional, Tuple, Type, Union +from typing import Callable, Dict, Iterator, List, Optional, Tuple, Type, Union, cast import attr import cv2 @@ -53,7 +54,7 @@ class which inherits from `AppCommand` (or a more specialized class such as from sleap.gui.state import GuiState from sleap.gui.suggestions import VideoFrameSuggestions from sleap.instance import Instance, LabeledFrame, Point, PredictedInstance, Track -from sleap.io.cameras import Camcorder, RecordingSession +from sleap.io.cameras import Camcorder, InstanceGroup, FrameGroup, RecordingSession from sleap.io.convert import default_analysis_filename from sleap.io.dataset import Labels from sleap.io.format.adaptor import Adaptor @@ -1947,7 +1948,6 @@ class AddSession(EditCommand): @staticmethod def do_action(context: CommandContext, params: dict): - camera_calibration = params["camera_calibration"] session = RecordingSession.load(filename=camera_calibration) @@ -3406,409 +3406,114 @@ def do_action(cls, context: CommandContext, params: dict): ask_again: If True, then ask for views/instances again. Default is False. """ - # Check if we already ran ask - ask_again = params.get("ask_again", False) - - # Add "instances" to params dict without GUI, otherwise taken care of in ask - if ask_again: - params["show_dialog"] = False - enough_instances = cls.verify_views_and_instances( - context=context, params=params - ) - if not enough_instances: - return - - # Get params + # Get `FrameGroup` for the current frame index video = params.get("video", None) or context.state["video"] session = params.get("session", None) or context.labels.get_session(video) - instances = params["instances"] - - # Update instances - TriangulateSession.update_instances(session=session, instances=instances) - - @classmethod - def ask(cls, context: CommandContext, params: dict): - """Add "instances" to params dict if enough views/instances, warning user otherwise. - - Args: - context: The command context. - params: The command parameters. - video: The `Video` object to use. Default is current video. - session: The `RecordingSession` object to use. Default is current - video's session. - frame_idx: The frame index to use. Default is current frame index. - instance: The `Instance` object to use. Default is current instance. - show_dialog: If True, then show a warning dialog. Default is True. - - Returns: - True if enough views/instances for triangulation, False otherwise. - """ - - return cls.verify_views_and_instances(context=context, params=params) - - @classmethod - def verify_views_and_instances(cls, context: CommandContext, params: dict): - """Verify that there are enough views and instances to triangulate. - - Also adds "instances" to params dict if there are enough views and instances. - - Args: - context: The command context. - params: The command parameters. - video: The `Video` object used to lookup a `session` (if not provided). - Default is current video. - session: The `RecordingSession` object to use. Default is current - video's session. - frame_idx: The frame index to use. Default is current frame index. - instance: The `Instance` object to use. Default is current instance. - show_dialog: If True, then show a warning dialog. Default is True. + frame_idx: int = params["frame_idx"] + frame_group: FrameGroup = ( + params.get("frame_group", None) or session.frame_groups[frame_idx] + ) - Returns: - True if enough views/instances for triangulation, False otherwise. - """ - video = params.get("video", None) or context.state["video"] - session = params.get("session", None) or context.labels.get_session(video) + # Get the `InstanceGroup` from `Instance` if any instance = params.get("instance", None) or context.state["instance"] - show_dialog = params.get("show_dialog", True) - - # This value could possibly be 0, so we can't use "or" - frame_idx = params.get("frame_idx", None) - frame_idx = frame_idx if frame_idx is not None else context.state["frame_idx"] + instance_group = frame_group.get_instance_group(instance) - # Return if we don't have a session for video or an instance selected. - if session is None or instance is None: - return - - track = instance.track - cams_to_include = params.get("cams_to_include", None) or session.linked_cameras - - # If not enough `Camcorder`s available/specified, then return - if not TriangulateSession.verify_enough_views( - context=context, - session=session, - cams_to_include=cams_to_include, - show_dialog=show_dialog, - ): - return False + # If instance_group is None, then we will try to triangulate entire frame_group + instance_groups = ( + [instance_group] + if instance_group is not None + else frame_group.instance_groups + ) - # Get all instances accross views at this frame index - instances = TriangulateSession.get_and_verify_enough_instances( - context=context, - session=session, + # Retain instance groups that have enough views/instances for triangulation + instance_groups = TriangulateSession.has_enough_instances( + frame_group=frame_group, + instance_groups=instance_groups, frame_idx=frame_idx, - cams_to_include=cams_to_include, - track=track, - show_dialog=show_dialog, + instance=instance, ) + if instance_groups is None or len(instance_groups) == 0: + return # Not enough instances for triangulation - # Return if not enough instances - if not instances: - return False + # Get the `FrameGroup` of shape M=include x T x N x 2 + fg_tensor = frame_group.numpy(instance_groups=instance_groups, pred_as_nan=True) - # Add instances to params dict - params["instances"] = instances + # Add extra dimension for number of frames + frame_group_tensor = np.expand_dims(fg_tensor, axis=1) # M=include x F=1 xTxNx2 - return True + # Triangulate to one 3D pose per instance + points_3d = triangulate( + p2d=frame_group_tensor, + calib=session.camera_cluster, + excluded_views=frame_group.excluded_views, + ) # F x T x N x 3 - @staticmethod - def get_and_verify_enough_instances( - session: RecordingSession, - frame_idx: int, - context: Optional[CommandContext] = None, - cams_to_include: Optional[List[Camcorder]] = None, - track: Optional[Track] = None, - show_dialog: bool = True, - ) -> Union[Dict[Camcorder, Instance], bool]: - """Get all instances accross views at this frame index. + # Reproject onto all views + pts_reprojected = reproject( + points_3d, + calib=session.camera_cluster, + excluded_views=frame_group.excluded_views, + ) # M=include x F=1 x T x N x 2 - If not enough `Instance`s are available at this frame index, then return False. + # Sqeeze back to the original shape + points_reprojected = np.squeeze(pts_reprojected, axis=1) # M=include x TxNx2 - Args: - session: The `RecordingSession` containing the `Camcorder`s. - frame_idx: Frame index to get instances from (0-indexed). - context: The optional command context used to display a dialog. - cams_to_include: List of `Camcorder`s to include. Default is all. - track: `Track` object used to find instances accross views. Default is None. - show_dialog: If True, then show a warning dialog. Default is True. - - Returns: - Dict with `Camcorder` keys and `Instances` values (or False if not enough - instances at this frame index). - """ - try: - instances: Dict[ - Camcorder, Instance - ] = TriangulateSession.get_instances_across_views( - session=session, - frame_idx=frame_idx, - cams_to_include=cams_to_include, - track=track, - require_multiple_views=True, - ) - return instances - except Exception as e: - # If not enough views, instances or some other error, then return - message = str(e) - message += "\n\tSkipping triangulation and reprojection." - logger.warning(message) - return False + # Update or create/insert ("upsert") instance points + frame_group.upsert_points( + points=points_reprojected, + instance_groups=instance_groups, + exclude_complete=True, + ) - @staticmethod - def verify_enough_views( - session: RecordingSession, - context: Optional[CommandContext] = None, - cams_to_include: Optional[List[Camcorder]] = None, - show_dialog=True, - ): - """If not enough `Camcorder`s available/specified, then return False. + @classmethod + def has_enough_instances( + cls, + frame_group: FrameGroup, + instance_groups: Optional[List[InstanceGroup]], + frame_idx: Optional[int] = None, + instance: Optional[Instance] = None, + ) -> Optional[List[InstanceGroup]]: + """Filters out instance groups without enough instances for triangulation. Args: - session: The `RecordingSession` containing the `Camcorder`s. - context: The optional command context, used to display a dialog. - cams_to_include: List of `Camcorder`s to include. Default is all. - show_dialog: If True, then show a warning dialog. Default is True. + frame_group: The `FrameGroup` object to use. + instance_groups: A list of `InstanceGroup` objects to use. + frame_idx: The frame index to use. + instance: The `Instance` object to use (only used in logging). Returns: - True if enough views are available, False otherwise. + A list of `InstanceGroup` objects with enough instances for triangulation. """ - if (cams_to_include is not None and len(cams_to_include) <= 1) or ( - len(session.videos) <= 1 - ): - message = ( - "One or less cameras available. " - "Multiple cameras needed to triangulate. " - "Skipping triangulation and reprojection." - ) - if show_dialog and context is not None: - QtWidgets.QMessageBox.warning(context.app, "Triangulation", message) - else: - logger.warning(message) - - return False - - return True - - @staticmethod - def get_instances_across_views( - session: RecordingSession, - frame_idx: int, - cams_to_include: Optional[List[Camcorder]] = None, - track: Optional["Track"] = None, - require_multiple_views: bool = False, - ) -> Dict[Camcorder, "Instance"]: - """Get all `Instances` accross all views at a given frame index. + if instance is None: + instance = "" # Just used for logging - Args: - session: The `RecordingSession` containing the `Camcorder`s. - frame_idx: Frame index to get instances from (0-indexed). - cams_to_include: List of `Camcorder`s to include. Default is all. - track: `Track` object used to find instances accross views. Default is None. - require_multiple_views: If True, then raise and error if one or less views - or instances are found. - - Returns: - Dict with `Camcorder` keys and `Instances` values. - - Raises: - ValueError if require_multiple_view is true and one or less views or - instances are found. - """ + if frame_idx is None: + frame_idx = "" # Just used for logging - def _message(views: bool): - views_or_instances = "views" if views else "instances" - return ( - f"One or less {views_or_instances} found for frame " - f"{frame_idx} in {session.camera_cluster}. " - "Multiple instances accross multiple views needed to triangulate." + if len(instance_groups) < 1: + logger.warning( + f"Require at least 1 instance group, but found " + f"{len(frame_group.instance_groups)} for frame group {frame_group} at " + f"frame {frame_idx}." + f"\nSkipping triangulation." ) - - # Get all views at this frame index - views: Dict[ - Camcorder, "LabeledFrame" - ] = TriangulateSession.get_all_views_at_frame( - session=session, - frame_idx=frame_idx, - cams_to_include=cams_to_include, - ) - - # If not enough views, then raise error - if len(views) <= 1 and require_multiple_views: - raise ValueError(_message(views=True)) - - # Find all instance accross all views - instances: Dict[Camcorder, "Instance"] = {} - for cam, lf in views.items(): - insts = lf.find(track=track) - if len(insts) > 0: - instances[cam] = insts[0] - - # If not enough instances for multiple views, then raise error - if len(instances) <= 1 and require_multiple_views: - raise ValueError(_message(views=False)) - - return instances - - @staticmethod - def get_all_views_at_frame( - session: RecordingSession, - frame_idx, - cams_to_include: Optional[List[Camcorder]] = None, - ) -> Dict[Camcorder, "LabeledFrame"]: - """Get all views at a given frame index. - - Args: - session: The `RecordingSession` containing the `Camcorder`s. - frame_idx: Frame index to get views from (0-indexed). - cams_to_include: List of `Camcorder`s to include. Default is all. - - Returns: - Dict with `Camcorder` keys and `LabeledFrame` values. - """ - - views: Dict[Camcorder, "LabeledFrame"] = {} - videos: Dict[Camcorder, Video] = session.get_videos_from_selected_cameras( - cams_to_include=cams_to_include - ) - for cam, video in videos.items(): - lfs: List["LabeledFrame"] = session.labels.get((video, [frame_idx])) - if len(lfs) == 0: - logger.debug( - f"No LabeledFrames found for video {video} at {frame_idx}." - ) - continue - - lf = lfs[0] - if len(lf.instances) == 0: + return None # No instance groups found + + # Assert that there are enough views and instances + instance_groups_to_tri = [] + for instance_group in instance_groups: + instances = instance_group.get_instances(frame_group.cams_to_include) + if len(instances) < 2: + # Not enough instances logger.warning( - f"No Instances found for {lf}." - " There should not be empty LabeledFrames." + f"Not enough instances in {instance_group} for triangulation." + f"\nSkipping instance group." ) continue + instance_groups_to_tri.append(instance_group) - views[cam] = lf - - return views - - @staticmethod - def get_instances_matrices(instances_ordered: List[Instance]) -> np.ndarray: - """Gather instances from views into M x F x T x N x 2 an array. - - M: # views, F: # frames = 1, T: # tracks = 1, N: # nodes, 2: x, y - - Args: - instances_ordered: List of instances from view (following the order of the - `RecordingSession.cameras` if using for triangulation). - - Returns: - M x F x T x N x 2 array of instances coordinates. - """ - - # Gather instances into M x F x T x N x 2 arrays (require specific order) - # (M = # views, F = # frames = 1, T = # tracks = 1, N = # nodes, 2 = x, y) - inst_coords = np.stack( - [inst.numpy() for inst in instances_ordered], axis=0 - ) # M x N x 2 - inst_coords = np.expand_dims(inst_coords, axis=1) # M x T=1 x N x 2 - inst_coords = np.expand_dims(inst_coords, axis=1) # M x F=1 x T=1 x N x 2 - - return inst_coords - - @staticmethod - def calculate_excluded_views( - session: RecordingSession, - instances: Dict[Camcorder, "Instance"], - ) -> Tuple[str]: - """Get excluded views from dictionary of `Camcorder` to `Instance`. - - Args: - session: The `RecordingSession` containing the `Camcorder`s. - instances: Dict with `Camcorder` key and `Instance` values. - - Returns: - Tuple of excluded view names. - """ - - # Calculate excluded views from included cameras - cams_excluded = set(session.cameras) - set(instances.keys()) - excluded_views = tuple(cam.name for cam in cams_excluded) - - return excluded_views - - @staticmethod - def calculate_reprojected_points( - session: RecordingSession, instances: Dict[Camcorder, "Instance"] - ) -> Iterator[Tuple["Instance", np.ndarray]]: - """Triangulate and reproject instance coordinates. - - Note that the order of the instances in the list must match the order of the - cameras in the `CameraCluster`, that is why we require instances be passed in as - a dictionary mapping back to its `Camcorder`. - https://github.com/lambdaloop/aniposelib/blob/d03b485c4e178d7cff076e9fe1ac36837db49158/aniposelib/cameras.py#L491 - - Args: - instances: Dict with `Camcorder` keys and `Instance` values. - - Returns: - A zip of the ordered instances and the related reprojected coordinates. Each - element in the coordinates is a numpy array of shape (1, N, 2) where N is - the number of nodes. - """ - - # TODO (LM): Support multiple tracks and optimize - - excluded_views = TriangulateSession.calculate_excluded_views( - session=session, instances=instances - ) - instances_ordered = [ - instances[cam] for cam in session.cameras if cam in instances - ] - - # Gather instances into M x F x T x N x 2 arrays (require specific order) - # (M = # views, F = # frames = 1, T = # tracks = 1, N = # nodes, 2 = x, y) - inst_coords = TriangulateSession.get_instances_matrices( - instances_ordered=instances_ordered - ) # M x F=1 x T=1 x N x 2 - points_3d = triangulate( - p2d=inst_coords, - calib=session.camera_cluster, - excluded_views=excluded_views, - ) # F=1, T=1, N, 3 - - # Update the views with the new 3D points - inst_coords_reprojected = reproject( - points_3d, calib=session.camera_cluster, excluded_views=excluded_views - ) # M x F=1 x T=1 x N x 2 - insts_coords_list: List[np.ndarray] = np.split( - inst_coords_reprojected.squeeze(), inst_coords_reprojected.shape[0], axis=0 - ) # len(M) of T=1 x N x 2 - - return zip(instances_ordered, insts_coords_list) - - @staticmethod - def update_instances(session, instances: Dict[Camcorder, Instance]): - """Triangulate, reproject, and update coordinates of `Instances`. - - Args: - session: The `RecordingSession` containing the `Camcorder`s. - instances: Dict with `Camcorder` keys and `Instance` values. - - Returns: - None - """ - - # Triangulate and reproject instance coordinates. - instances_and_coords: Iterator[ - Tuple["Instance", np.ndarray] - ] = TriangulateSession.calculate_reprojected_points( - session=session, instances=instances - ) - - # Update the instance coordinates. - for inst, inst_coord in instances_and_coords: - inst.update_points( - points=inst_coord[0], exclude_complete=True - ) # inst_coord is (1, N, 2) + return instance_groups_to_tri # `InstanceGroup`s with enough instances def open_website(url: str): diff --git a/sleap/gui/dialogs/delete.py b/sleap/gui/dialogs/delete.py index 7e8d39e6b..a0a281e74 100644 --- a/sleap/gui/dialogs/delete.py +++ b/sleap/gui/dialogs/delete.py @@ -216,7 +216,7 @@ def _delete(self, lf_inst_list: List[Tuple[LabeledFrame, Instance]]): for lf, inst in lf_inst_list: self.context.labels.remove_instance(lf, inst, in_transaction=True) if not lf.instances: - self.context.labels.remove(lf) + self.context.labels.remove_frame(lf=lf, update_cache=False) # Update caches since we skipped doing this after each deletion self.context.labels.update_cache() diff --git a/sleap/instance.py b/sleap/instance.py index 1da784416..ed1fa3d07 100644 --- a/sleap/instance.py +++ b/sleap/instance.py @@ -500,7 +500,6 @@ def _points_dict_to_array( ) try: parray[skeleton.node_to_index(node)] = point - # parray[skeleton.node_to_index(node.name)] = point except: logger.debug( f"Could not set point for node {node} in {skeleton} " @@ -729,9 +728,31 @@ def update_points(self, points: np.ndarray, exclude_complete: bool = False): for point_new, points_old, node_name in zip( points, self._points, self.skeleton.node_names ): + + # Skip if new point is nan or old point is complete if np.isnan(point_new).any() or (exclude_complete and points_old.complete): continue - points_dict[node_name] = Point(x=point_new[0], y=point_new[1]) + + # Grab the x, y from the new point and visible, complete from the old point + x, y = point_new + visible = points_old.visible + complete = points_old.complete + + # Create a new point and add to the dict + if type(self._points) == PredictedPointArray: + # TODO(LM): The point score is meant to rate the confidence of the + # prediction, but this method updates from triangulation. + score = points_old.score + point_obj = PredictedPoint( + x=x, y=y, visible=visible, complete=complete, score=score + ) + else: + point_obj = Point(x=x, y=y, visible=visible, complete=complete) + + # Update the points dict + points_dict[node_name] = point_obj + + # Update the points if len(points_dict) > 0: Instance._points_dict_to_array(points_dict, self._points, self.skeleton) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 0cf830feb..d8bac5807 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -1,8 +1,9 @@ """Module for storing information for camera groups.""" + import logging import tempfile from pathlib import Path -from typing import Any, Dict, Iterator, List, Optional, Tuple, Union +from typing import Any, Dict, Iterator, List, Optional, Tuple, Union, cast, Set import cattr import numpy as np @@ -10,9 +11,9 @@ from aniposelib.cameras import Camera, CameraGroup, FisheyeCamera from attrs import define, field from attrs.validators import deep_iterable, instance_of -from sleap_anipose import reproject, triangulate # from sleap.io.dataset import Labels # TODO(LM): Circular import, implement Observer +from sleap.instance import LabeledFrame, Instance, PredictedInstance from sleap.io.video import Video from sleap.util import deep_iterable_converter @@ -394,6 +395,507 @@ def to_calibration_dict(self) -> Dict[str, str]: return calibration_dict +@define +class InstanceGroup: + """Defines a group of instances across the same frame index. + + Args: + camera_cluster: `CameraCluster` object. + instances: List of `Instance` objects. + + """ + + _name: str = field() + frame_idx: int = field(validator=instance_of(int)) + _instance_by_camcorder: Dict[Camcorder, Instance] = field(factory=dict) + _camcorder_by_instance: Dict[Instance, Camcorder] = field(factory=dict) + _dummy_instance: Optional[Instance] = field(default=None) + + # Class attributes + camera_cluster: Optional[CameraCluster] = None + + def __attrs_post_init__(self): + """Initialize `InstanceGroup` object.""" + + instance = None + for cam, instance in self._instance_by_camcorder.items(): + self._camcorder_by_instance[instance] = cam + + # Create a dummy instance to fill in for missing instances + if self._dummy_instance is None: + self._create_dummy_instance(instance=instance) + + def _create_dummy_instance(self, instance: Optional[Instance] = None): + """Create a dummy instance to fill in for missing instances. + + Args: + instance: Optional `Instance` object to use as an example instance. If None, + then the first instance in the `InstanceGroup` is used. + + Raises: + ValueError: If no instances are available to create a dummy instance. + """ + + if self._dummy_instance is None: + # Get an example instance + if instance is None: + if len(self.instances) < 1: + raise ValueError( + "Cannot create a dummy instance without any instances." + ) + instance = self.instances[0] + + # Use the example instance to create a dummy instance + skeleton: "Skeleton" = instance.skeleton + self._dummy_instance = PredictedInstance.from_numpy( + points=np.full( + shape=(len(skeleton.nodes), 2), + fill_value=np.nan, + ), + point_confidences=np.full( + shape=(len(skeleton.nodes),), + fill_value=np.nan, + ), + instance_score=np.nan, + skeleton=skeleton, + ) + + @property + def dummy_instance(self) -> PredictedInstance: + """Dummy `PredictedInstance` object to fill in for missing instances. + + Also used to create instances that are not found in the `InstanceGroup`. + + Returns: + `PredictedInstance` object or None if unable to create the dummy instance. + """ + + if self._dummy_instance is None: + self._create_dummy_instance() + return self._dummy_instance + + @property + def name(self) -> str: + """Name of the `InstanceGroup`.""" + + return self._name + + @name.setter + def name(self, name: str): + """Set the name of the `InstanceGroup`.""" + + raise ValueError( + "Cannot set name directly. Use `set_name` method instead (preferably " + "through FrameGroup.set_instance_group_name)." + ) + + def set_name(self, name: str, name_registry: Set[str]): + """Set the name of the `InstanceGroup`. + + This function mutates the name_registry input (see side-effect). + + Args: + name: Name to set for the `InstanceGroup`. + name_registry: Set of names to check for uniqueness. + + Raises: + ValueError: If the name is already in use (in the name_registry). + """ + + # Check if the name is already in use + if name in name_registry: + raise ValueError( + f"Name {name} already in use. Please use a unique name not currently " + f"in the registry: {name_registry}" + ) + + # Remove the old name from the registry + if self._name in name_registry: + name_registry.remove(self._name) + + self._name = name + name_registry.add(name) + + @classmethod + def return_unique_name(cls, name_registry: Set[str]) -> str: + """Return a unique name for the `InstanceGroup`. + + Args: + name_registry: Set of names to check for uniqueness. + + Returns: + Unique name for the `InstanceGroup`. + """ + + base_name = "instance_group_" + count = len(name_registry) + new_name = f"{base_name}{count}" + + while new_name in name_registry: + count += 1 + new_name = f"{base_name}{count}" + + return new_name + + @property + def instances(self) -> List[Instance]: + """List of `Instance` objects.""" + return list(self._instance_by_camcorder.values()) + + @property + def cameras(self) -> List[Camcorder]: + """List of `Camcorder` objects.""" + return list(self._instance_by_camcorder.keys()) + + @property + def instance_by_camcorder(self) -> Dict[Camcorder, Instance]: + """Dictionary of `Instance` objects by `Camcorder`.""" + return self._instance_by_camcorder + + def numpy(self, pred_as_nan: bool = False) -> np.ndarray: + """Return instances as a numpy array of shape (n_views, n_nodes, 2). + + The ordering of views is based on the ordering of `Camcorder`s in the + `self.camera_cluster: CameraCluster`. + + If an instance is missing for a `Camcorder`, then the instance is filled in with + the dummy instance (all NaNs). + + Args: + pred_as_nan: If True, then replaces `PredictedInstance`s with all nan + self.dummy_instance. Default is False. + + Returns: + Numpy array of shape (n_views, n_nodes, 2). + """ + + instance_numpys: List[np.ndarray] = [] # len(M) x N x 2 + for cam in self.camera_cluster.cameras: + instance = self.get_instance(cam) + + # Determine whether to use a dummy (all nan) instance + instance_is_missing = instance is None + instance_as_nan = pred_as_nan and isinstance(instance, PredictedInstance) + use_dummy_instance = instance_is_missing or instance_as_nan + + # Add the dummy instance if the instance is missing + if use_dummy_instance: + instance = self.dummy_instance # This is an all nan PredictedInstance + + instance_numpy: np.ndarray = instance.numpy() # N x 2 + instance_numpys.append(instance_numpy) + + return np.stack(instance_numpys, axis=0) # M x N x 2 + + def create_and_add_instance(self, cam: Camcorder, labeled_frame: LabeledFrame): + """Create an `Instance` at a labeled_frame and add it to the `InstanceGroup`. + + Args: + cam: `Camcorder` object that the `Instance` is for. + labeled_frame: `LabeledFrame` object that the `Instance` is contained in. + + Returns: + All nan `PredictedInstance` created and added to the `InstanceGroup`. + """ + + # Get the `Skeleton` + skeleton: "Skeleton" = self.dummy_instance.skeleton + + # Create an all nan `Instance` + instance: PredictedInstance = PredictedInstance.from_numpy( + points=self.dummy_instance.points_array, + point_confidences=self.dummy_instance.scores, + instance_score=self.dummy_instance.score, + skeleton=skeleton, + ) + instance.frame = labeled_frame + + # Add the instance to the `InstanceGroup` + self.add_instance(cam, instance) + + return instance + + def add_instance(self, cam: Camcorder, instance: Instance): + """Add an `Instance` to the `InstanceGroup`. + + Args: + cam: `Camcorder` object that the `Instance` is for. + instance: `Instance` object to add. + + Raises: + ValueError: If the `Camcorder` is not in the `CameraCluster`. + ValueError: If the `Instance` is already in the `InstanceGroup` at another + camera. + """ + + # Ensure the `Camcorder` is in the `CameraCluster` + self._raise_if_cam_not_in_cluster(cam=cam) + + # Ensure the `Instance` is not already in the `InstanceGroup` at another camera + if ( + instance in self._camcorder_by_instance + and self._camcorder_by_instance[instance] != cam + ): + raise ValueError( + f"Instance {instance} is already in this InstanceGroup at camera " + f"{self.get_instance(instance)}." + ) + + # Add the instance to the `InstanceGroup` + self.replace_instance(cam, instance) + + def replace_instance(self, cam: Camcorder, instance: Instance): + """Replace an `Instance` in the `InstanceGroup`. + + If the `Instance` is already in the `InstanceGroup`, then it is removed and + replaced. If the `Instance` is not already in the `InstanceGroup`, then it is + added. + + Args: + cam: `Camcorder` object that the `Instance` is for. + instance: `Instance` object to replace. + + Raises: + ValueError: If the `Camcorder` is not in the `CameraCluster`. + """ + + # Ensure the `Camcorder` is in the `CameraCluster` + self._raise_if_cam_not_in_cluster(cam=cam) + + # Remove the instance if it already exists + self.remove_instance(instance_or_cam=instance) + + # Replace the instance in the `InstanceGroup` + self._instance_by_camcorder[cam] = instance + self._camcorder_by_instance[instance] = cam + + def remove_instance(self, instance_or_cam: Union[Instance, Camcorder]): + """Remove an `Instance` from the `InstanceGroup`. + + Args: + instance_or_cam: `Instance` or `Camcorder` object to remove from + `InstanceGroup`. + + Raises: + ValueError: If the `Camcorder` is not in the `CameraCluster`. + """ + + if isinstance(instance_or_cam, Camcorder): + cam = instance_or_cam + + # Ensure the `Camcorder` is in the `CameraCluster` + self._raise_if_cam_not_in_cluster(cam=cam) + + # Remove the instance from the `InstanceGroup` + if cam in self._instance_by_camcorder: + instance = self._instance_by_camcorder.pop(cam) + self._camcorder_by_instance.pop(instance) + + else: + # The input is an `Instance` + instance = instance_or_cam + + # Remove the instance from the `InstanceGroup` + if instance in self._camcorder_by_instance: + cam = self._camcorder_by_instance.pop(instance) + self._instance_by_camcorder.pop(cam) + else: + logger.debug( + f"Instance {instance} not found in this InstanceGroup {self}." + ) + + def _raise_if_cam_not_in_cluster(self, cam: Camcorder): + """Raise a ValueError if the `Camcorder` is not in the `CameraCluster`.""" + + if cam not in self.camera_cluster: + raise ValueError( + f"Camcorder {cam} is not in this InstanceGroup's " + f"{self.camera_cluster}." + ) + + def get_instance(self, cam: Camcorder) -> Optional[Instance]: + """Retrieve `Instance` linked to `Camcorder`. + + Args: + camcorder: `Camcorder` object. + + Returns: + If `Camcorder` in `self.camera_cluster`, then `Instance` object if found, else + `None` if `Camcorder` has no linked `Instance`. + """ + + if cam not in self._instance_by_camcorder: + logger.debug( + f"Camcorder {cam} has no linked `Instance` in this `InstanceGroup` " + f"{self}." + ) + return None + + return self._instance_by_camcorder[cam] + + def get_instances(self, cams: List[Camcorder]) -> List[Instance]: + instances = [] + for cam in cams: + instance = self.get_instance(cam) + instances.append(instance) + return instance + + def get_cam(self, instance: Instance) -> Optional[Camcorder]: + """Retrieve `Camcorder` linked to `Instance`. + + Args: + instance: `Instance` object. + + Returns: + `Camcorder` object if found, else `None`. + """ + + if instance not in self._camcorder_by_instance: + logger.debug( + f"{instance} is not in this InstanceGroup.instances: " + f"\n\t{self.instances}." + ) + return None + + return self._camcorder_by_instance[instance] + + def update_points( + self, + points: np.ndarray, + cams_to_include: Optional[List[Camcorder]] = None, + exclude_complete: bool = True, + ): + """Update the points in the `Instance` for the specified `Camcorder`s. + + Args: + points: Numpy array of shape (M, N, 2) where M is the number of views, N is + the number of Nodes, and 2 is for x, y. + cams_to_include: List of `Camcorder`s to include in the update. The order of + the `Camcorder`s in the list should match the order of the views in the + `points` array. If None, then all `Camcorder`s in the `CameraCluster` + are included. Default is None. + exclude_complete: If True, then do not update points that are marked as + complete. Default is True. + """ + + # If no `Camcorder`s specified, then update `Instance`s for all `CameraCluster` + if cams_to_include is None: + cams_to_include = self.camera_cluster.cameras + + # Check that correct shape was passed in + n_views, n_nodes, _ = points.shape + assert n_views == len(cams_to_include), ( + f"Number of views in `points` ({n_views}) does not match the number of " + f"Camcorders in `cams_to_include` ({len(cams_to_include)})." + ) + + for cam_idx, cam in enumerate(cams_to_include): + # Get the instance for the cam + instance: Optional[Instance] = self.get_instance(cam) + if instance is None: + logger.warning( + f"Camcorder {cam.name} not found in this InstanceGroup's instances." + ) + continue + + # Update the points (and scores) for the (predicted) instance + instance.update_points( + points=points[cam_idx, :, :], exclude_complete=exclude_complete + ) + + def __getitem__( + self, idx_or_key: Union[int, Camcorder, Instance] + ) -> Union[Camcorder, Instance]: + """Grab a `Camcorder` of `Instance` from the `InstanceGroup`.""" + + def _raise_key_error(): + raise KeyError(f"Key {idx_or_key} not found in {self.__class__.__name__}.") + + # Try to find in `self.camera_cluster.cameras` + if isinstance(idx_or_key, int): + try: + return self.instances[idx_or_key] + except IndexError: + _raise_key_error() + + # Return a `Instance` if `idx_or_key` is a `Camcorder`` + if isinstance(idx_or_key, Camcorder): + return self.get_instance(idx_or_key) + + else: + # isinstance(idx_or_key, Instance): + try: + return self.get_cam(idx_or_key) + except: + pass + + _raise_key_error() + + def __len__(self): + return len(self.instances) + + def __repr__(self): + return f"{self.__class__.__name__}(frame_idx={self.frame_idx}, instances={len(self)}, camera_cluster={self.camera_cluster})" + + def __hash__(self) -> int: + return hash(self._name) + + @classmethod + def from_dict( + cls, d: dict, name: str, name_registry: Set[str] + ) -> Optional["InstanceGroup"]: + """Creates an `InstanceGroup` object from a dictionary. + + Args: + d: Dictionary with `Camcorder` keys and `Instance` values. + name: Name to use for the `InstanceGroup`. + name_registry: Set of names to check for uniqueness. + + Raises: + ValueError: If the `InstanceGroup` name is already in use. + + Returns: + `InstanceGroup` object or None if no "real" (determined by `frame_idx` other + than None) instances found. + """ + + # Ensure not to mutate the original dictionary + d_copy = d.copy() + + frame_idx = None + for cam, instance in d_copy.copy().items(): + camera_cluster = cam.camera_cluster + + # Remove dummy instances (determined by not having a frame index) + if instance.frame_idx is None: + d_copy.pop(cam) + # Grab the frame index from non-dummy instances + elif frame_idx is None: + frame_idx = instance.frame_idx + # Ensure all instances have the same frame index + elif frame_idx != instance.frame_idx: + raise ValueError( + f"Cannot create `InstanceGroup`: Frame index {frame_idx} does " + f"not match instance frame index {instance.frame_idx}." + ) + + if len(d_copy) == 0: + raise ValueError("Cannot create `InstanceGroup`: No real instances found.") + + if name in name_registry: + raise ValueError( + f"Cannot create `InstanceGroup`: Name {name} already in use. Please " + f"use a unique name that is not in the registry: {name_registry}." + ) + + return cls( + name=name, + frame_idx=frame_idx, + camera_cluster=camera_cluster, + instance_by_camcorder=d_copy, + ) + + @define(eq=False) class RecordingSession: """Class for storing information for a recording session. @@ -412,8 +914,9 @@ class RecordingSession: # TODO(LM): Consider implementing Observer pattern for `camera_cluster` and `labels` camera_cluster: CameraCluster = field(factory=CameraCluster) metadata: dict = field(factory=dict) + labels: Optional["Labels"] = field(default=None) _video_by_camcorder: Dict[Camcorder, Video] = field(factory=dict) - labels: Optional["Labels"] = None + _frame_group_by_frame_idx: Dict[int, "FrameGroup"] = field(factory=dict) @property def videos(self) -> List[Video]: @@ -423,15 +926,38 @@ def videos(self) -> List[Video]: @property def linked_cameras(self) -> List[Camcorder]: - """List of `Camcorder`s in `self.camera_cluster` that are linked to a video.""" + """List of `Camcorder`s in `self.camera_cluster` that are linked to a video. - return list(self._video_by_camcorder.keys()) + The list is ordered based on the order of the `Camcorder`s in the `CameraCluster`. + """ + + return sorted( + self._video_by_camcorder.keys(), key=self.camera_cluster.cameras.index + ) @property def unlinked_cameras(self) -> List[Camcorder]: - """List of `Camcorder`s in `self.camera_cluster` that are not linked to a video.""" + """List of `Camcorder`s in `self.camera_cluster` that are not linked to a video. + + The list is ordered based on the order of the `Camcorder`s in the `CameraCluster`. + """ + + return sorted( + set(self.camera_cluster.cameras) - set(self.linked_cameras), + key=self.camera_cluster.cameras.index, + ) + + @property + def frame_groups(self) -> Dict[int, "FrameGroup"]: + """Dict of `FrameGroup`s by frame index.""" - return list(set(self.camera_cluster.cameras) - set(self.linked_cameras)) + return self._frame_group_by_frame_idx + + @property + def frame_inds(self) -> List[int]: + """List of frame indices.""" + + return list(self.frame_groups.keys()) def get_video(self, camcorder: Camcorder) -> Optional[Video]: """Retrieve `Video` linked to `Camcorder`. @@ -490,9 +1016,7 @@ def add_video(self, video: Video, camcorder: Camcorder): """ # Ensure the `Camcorder` is in this `RecordingSession`'s `CameraCluster` - try: - assert camcorder in self.camera_cluster - except AssertionError: + if camcorder not in self.camera_cluster: raise ValueError( f"Camcorder {camcorder.name} is not in this RecordingSession's " f"{self.camera_cluster}." @@ -519,6 +1043,11 @@ def add_video(self, video: Video, camcorder: Camcorder): # Add camcorder-to-video (1-to-1) map to `RecordingSession` self._video_by_camcorder[camcorder] = video + # Sort `_videos_by_session` by order of linked `Camcorder` in `CameraCluster.cameras` + self.camera_cluster._videos_by_session[self].sort( + key=lambda video: self.camera_cluster.cameras.index(self.get_camera(video)) + ) + # Update labels cache if self.labels is not None: self.labels.update_session(self, video) @@ -545,7 +1074,22 @@ def remove_video(self, video: Video): # Update labels cache if self.labels is not None and self.labels.get_session(video) is not None: - self.labels.remove_session_video(self, video) + self.labels.remove_session_video(video=video) + + def new_frame_group(self, frame_idx: int): + """Creates and adds an empty `FrameGroup` to the `RecordingSession`. + + Args: + frame_idx: Frame index for the `FrameGroup`. + + Returns: + `FrameGroup` object. + """ + + # `FrameGroup.__attrs_post_init` will manage `_frame_group_by_frame_idx` + frame_group = FrameGroup(frame_idx=frame_idx, session=self) + + return frame_group def get_videos_from_selected_cameras( self, cams_to_include: Optional[List[Camcorder]] = None @@ -755,3 +1299,718 @@ def make_cattr(videos_list: List[Video]): RecordingSession, lambda x: x.to_session_dict(video_to_idx) ) return sessions_cattr + + +@define +class FrameGroup: + """Defines a group of `InstanceGroups` across views at the same frame index.""" + + # Instance attributes + frame_idx: int = field(validator=instance_of(int)) + session: RecordingSession = field(validator=instance_of(RecordingSession)) + _instance_groups: List[InstanceGroup] = field( + factory=list, + validator=deep_iterable( + member_validator=instance_of(InstanceGroup), + iterable_validator=instance_of(list), + ), + ) # Akin to `LabeledFrame.instances` + _instance_group_name_registry: Set[str] = field(factory=set) + + # "Hidden" class attribute + _cams_to_include: Optional[List[Camcorder]] = None + _excluded_views: Optional[Tuple[str]] = () + + # "Hidden" instance attributes + + # TODO(LM): This dict should be updated each time a LabeledFrame is added/removed + # from the Labels object. Or if a video is added/removed from the RecordingSession. + _labeled_frame_by_cam: Dict[Camcorder, LabeledFrame] = field(factory=dict) + _cam_by_labeled_frame: Dict[LabeledFrame, Camcorder] = field(factory=dict) + _instances_by_cam: Dict[Camcorder, Set[Instance]] = field(factory=dict) + + def __attrs_post_init__(self): + """Initialize `FrameGroup` object.""" + + # Check that `InstanceGroup` names unique (later added via add_instance_group) + instance_group_name_registry_copy = set(self._instance_group_name_registry) + for instance_group in self.instance_groups: + if instance_group.name in instance_group_name_registry_copy: + raise ValueError( + f"InstanceGroup name {instance_group.name} already in use. " + f"Please use a unique name not currently in the registry: " + f"{self._instance_group_name_registry}" + ) + instance_group_name_registry_copy.add(instance_group.name) + + # Remove existing `FrameGroup` object from the `RecordingSession._frame_group_by_frame_idx` + self.enforce_frame_idx_unique(self.session, self.frame_idx) + + # Reorder `cams_to_include` to match `CameraCluster` order (via setter method) + if self._cams_to_include is not None: + self.cams_to_include = self._cams_to_include + + # Add `FrameGroup` to `RecordingSession` + self.session._frame_group_by_frame_idx[self.frame_idx] = self + + # Build `_labeled_frame_by_cam` and `_instances_by_cam` dictionary + for camera in self.session.camera_cluster.cameras: + self._instances_by_cam[camera] = set() + for instance_group in self.instance_groups: + self.add_instance_group(instance_group) + + @property + def instance_groups(self) -> List[InstanceGroup]: + """List of `InstanceGroup`s.""" + + return self._instance_groups + + @instance_groups.setter + def instance_groups(self, instance_groups: List[InstanceGroup]): + """Setter for `instance_groups` that updates `LabeledFrame`s and `Instance`s.""" + + instance_groups_to_remove = set(self.instance_groups) - set(instance_groups) + instance_groups_to_add = set(instance_groups) - set(self.instance_groups) + + # Update the `_labeled_frame_by_cam` and `_instances_by_cam` dictionary + for instance_group in instance_groups_to_remove: + self.remove_instance_group(instance_group=instance_group) + + for instance_group in instance_groups_to_add: + self.add_instance_group(instance_group=instance_group) + + @property + def cams_to_include(self) -> Optional[List[Camcorder]]: + """List of `Camcorder`s to include in this `FrameGroup`.""" + + if self._cams_to_include is None: + self._cams_to_include = self.session.camera_cluster.cameras.copy() + + # TODO(LM): Should we store this in another attribute? + # Filter cams to include based on videos linked to the session + cams_to_include = [ + cam for cam in self._cams_to_include if cam in self.session.linked_cameras + ] + + return cams_to_include + + @property + def excluded_views(self) -> Optional[Tuple[str]]: + """List of excluded views (names of Camcorders).""" + + return self._excluded_views + + @cams_to_include.setter + def cams_to_include(self, cams_to_include: List[Camcorder]): + """Setter for `cams_to_include` that sorts by `CameraCluster` order.""" + + # Sort the `Camcorder`s to include based on the order of `CameraCluster` cameras + self._cams_to_include = cams_to_include.sort( + key=self.session.camera_cluster.cameras.index + ) + + # Update the `excluded_views` attribute + excluded_cams = list( + set(self.session.camera_cluster.cameras) - set(cams_to_include) + ) + excluded_cams.sort(key=self.session.camera_cluster.cameras.index) + self._excluded_views = (cam.name for cam in excluded_cams) + + @property + def labeled_frames(self) -> List[LabeledFrame]: + """List of `LabeledFrame`s.""" + + # TODO(LM): Revisit whether we need to return a list instead of a view object + return list(self._labeled_frame_by_cam.values()) + + @property + def cameras(self) -> List[Camcorder]: + """List of `Camcorder`s.""" + + # TODO(LM): Revisit whether we need to return a list instead of a view object + return list(self._labeled_frame_by_cam.keys()) + + def numpy( + self, + instance_groups: Optional[List[InstanceGroup]] = None, + pred_as_nan: bool = False, + ) -> np.ndarray: + """Numpy array of all `InstanceGroup`s in `FrameGroup.cams_to_include`. + + Args: + instance_groups: `InstanceGroup`s to include. Default is None and uses all + self.instance_groups. + pred_as_nan: If True, then replaces `PredictedInstance`s with all nan + self.dummy_instance. Default is False. + + Returns: + Numpy array of shape (M, T, N, 2) where M is the number of views (determined + by self.cames_to_include), T is the number of `InstanceGroup`s, N is the + number of Nodes, and 2 is for x, y. + """ + + # Use all `InstanceGroup`s if not specified + if instance_groups is None: + instance_groups = self.instance_groups + else: + # Ensure that `InstanceGroup`s is in this `FrameGroup` + for instance_group in instance_groups: + if instance_group not in self.instance_groups: + raise ValueError( + f"InstanceGroup {instance_group} is not in this FrameGroup: " + f"{self.instance_groups}" + ) + + instance_group_numpys: List[np.ndarray] = [] # len(T) M=all x N x 2 + for instance_group in instance_groups: + instance_group_numpy = instance_group.numpy( + pred_as_nan=pred_as_nan + ) # M=all x N x 2 + instance_group_numpys.append(instance_group_numpy) + + frame_group_numpy = np.stack(instance_group_numpys, axis=1) # M=all x T x N x 2 + cams_to_include_mask = np.array( + [1 if cam in self.cams_to_include else 0 for cam in self.cameras] + ) # M=include x 1 + + return frame_group_numpy[cams_to_include_mask] # M=include x T x N x 2 + + def add_instance( + self, + instance: Instance, + camera: Camcorder, + instance_group: Optional[InstanceGroup] = None, + ): + """Add an (existing) `Instance` to the `FrameGroup`. + + If no `InstanceGroup` is provided, then check the `Instance` is already in an + `InstanceGroup` contained in the `FrameGroup`. Otherwise, add the `Instance` to + the `InstanceGroup` and `FrameGroup`. + + Args: + instance: `Instance` to add to the `FrameGroup`. + camera: `Camcorder` to link the `Instance` to. + instance_group: `InstanceGroup` to add the `Instance` to. If None, then + check the `Instance` is already in an `InstanceGroup`. + + Raises: + ValueError: If the `InstanceGroup` is not in the `FrameGroup`. + ValueError: If the `Instance` is not linked to a `LabeledFrame`. + ValueError: If the frame index of the `Instance` does not match the frame index + of the `FrameGroup`. + ValueError: If the `LabeledFrame` of the `Instance` does not match the existing + `LabeledFrame` for the `Camcorder` in the `FrameGroup`. + ValueError: If the `Instance` is not in an `InstanceGroup` in the + `FrameGroup`. + """ + + # Ensure the `InstanceGroup` is in this `FrameGroup` + if instance_group is not None: + self._raise_if_instance_group_not_in_frame_group( + instance_group=instance_group + ) + + # Ensure `Instance` is compatible with `FrameGroup` + self._raise_if_instance_incompatibile(instance=instance, camera=camera) + + # Add the `Instance` to the `InstanceGroup` + if instance_group is not None: + instance_group.add_instance(cam=camera, instance=instance) + else: + self._raise_if_instance_not_in_instance_group(instance=instance) + + # Add the `Instance` to the `FrameGroup` + self._instances_by_cam[camera].add(instance) + + # Update the labeled frames if necessary + labeled_frame = self.get_labeled_frame(camera=camera) + if labeled_frame is None: + labeled_frame = instance.frame + self.add_labeled_frame(labeled_frame=labeled_frame, camera=camera) + + def remove_instance(self, instance: Instance): + """Removes an `Instance` from the `FrameGroup`. + + Args: + instance: `Instance` to remove from the `FrameGroup`. + """ + + instance_group = self.get_instance_group(instance=instance) + + if instance_group is None: + logger.warning( + f"Instance {instance} not found in this FrameGroup.instance_groups: " + f"{self.instance_groups}." + ) + return + + # Remove the `Instance` from the `InstanceGroup` + camera = instance_group.get_cam(instance=instance) + instance_group.remove_instance(instance=instance) + + # Remove the `Instance` from the `FrameGroup` + self._instances_by_cam[camera].remove(instance) + + # Remove "empty" `LabeledFrame`s from the `FrameGroup` + if len(self._instances_by_cam[camera]) < 1: + self.remove_labeled_frame(labeled_frame_or_camera=camera) + + def add_instance_group(self, instance_group: Optional[InstanceGroup] = None): + """Add an `InstanceGroup` to the `FrameGroup`. + + This method updates the underlying dictionaries in calling add_instance: + - `_instances_by_cam` + - `_labeled_frame_by_cam` + - `_cam_by_labeled_frame` + + Args: + instance_group: `InstanceGroup` to add to the `FrameGroup`. If None, then + create a new `InstanceGroup` and add it to the `FrameGroup`. + + Raises: + ValueError: If the `InstanceGroup` is already in the `FrameGroup`. + """ + + if instance_group is None: + + # Find a unique name for the `InstanceGroup` + instance_group_name = InstanceGroup.return_unique_name( + name_registry=self._instance_group_name_registry + ) + + # Create an empty `InstanceGroup` with the frame index of the `FrameGroup` + instance_group = InstanceGroup( + name=instance_group_name, + frame_idx=self.frame_idx, + camera_cluster=self.session.camera_cluster, + ) + else: + # Ensure the `InstanceGroup` is compatible with the `FrameGroup` + self._raise_if_instance_group_incompatible(instance_group=instance_group) + + # Add the `InstanceGroup` to the `FrameGroup` + # We only expect this to be false on initialization + if instance_group not in self.instance_groups: + self.instance_groups.append(instance_group) + + # Add instance group name to the registry + self._instance_group_name_registry.add(instance_group.name) + + # Add `Instance`s and `LabeledFrame`s to the `FrameGroup` + for camera, instance in instance_group.instance_by_camcorder.items(): + self.add_instance(instance=instance, camera=camera) + + def remove_instance_group(self, instance_group: InstanceGroup): + """Remove an `InstanceGroup` from the `FrameGroup`.""" + + if instance_group not in self.instance_groups: + logger.warning( + f"InstanceGroup {instance_group} not found in this FrameGroup: " + f"{self.instance_groups}." + ) + return + + # Remove the `InstanceGroup` from the `FrameGroup` + self.instance_groups.remove(instance_group) + self._instance_group_name_registry.remove(instance_group.name) + + # Remove the `Instance`s from the `FrameGroup` + for camera, instance in instance_group.instance_by_camcorder.items(): + self._instances_by_cam[camera].remove(instance) + + # Remove the `LabeledFrame` from the `FrameGroup` + labeled_frame = self.get_labeled_frame(camera=camera) + if labeled_frame is not None: + self.remove_labeled_frame(camera=camera) + + def get_instance_group(self, instance: Instance) -> Optional[InstanceGroup]: + """Get `InstanceGroup` that contains `Instance` if exists. Otherwise, None. + + Args: + instance: `Instance` + + Returns: + `InstanceGroup` + """ + + instance_group: Optional[InstanceGroup] = next( + ( + instance_group + for instance_group in self.instance_groups + if instance in instance_group.instances + ), + None, + ) + + return instance_group + + def set_instance_group_name(self, instance_group: InstanceGroup, name: str): + """Set the name of an `InstanceGroup` in the `FrameGroup`.""" + + self._raise_if_instance_group_not_in_frame_group(instance_group=instance_group) + + instance_group.set_name( + name=name, name_registry=self._instance_group_name_registry + ) + + def add_labeled_frame(self, labeled_frame: LabeledFrame, camera: Camcorder): + """Add a `LabeledFrame` to the `FrameGroup`. + + Args: + labeled_frame: `LabeledFrame` to add to the `FrameGroup`. + camera: `Camcorder` to link the `LabeledFrame` to. + + Raises: + ValueError: If the `LabeledFrame` is not compatible with the `FrameGroup`. + """ + + # Some checks to ensure the `LabeledFrame` is compatible with the `FrameGroup` + if not isinstance(labeled_frame, LabeledFrame): + raise ValueError( + f"Cannot add LabeledFrame: {labeled_frame} is not a LabeledFrame." + ) + elif labeled_frame.frame_idx != self.frame_idx: + raise ValueError( + f"Cannot add LabeledFrame: Frame index {labeled_frame.frame_idx} does " + f"not match FrameGroup frame index {self.frame_idx}." + ) + elif not isinstance(camera, Camcorder): + raise ValueError(f"Cannot add LabeledFrame: {camera} is not a Camcorder.") + + # Add the `LabeledFrame` to the `FrameGroup` + self._labeled_frame_by_cam[camera] = labeled_frame + self._cam_by_labeled_frame[labeled_frame] = camera + + # Add the `LabeledFrame` to the `RecordingSession`'s `Labels` object + if (self.session.labels is not None) and ( + labeled_frame not in self.session.labels + ): + self.session.labels.append(labeled_frame) + + def remove_labeled_frame( + self, labeled_frame_or_camera: Union[LabeledFrame, Camcorder] + ): + """Remove a `LabeledFrame` from the `FrameGroup`. + + Args: + labeled_frame_or_camera: `LabeledFrame` or `Camcorder` to remove the + `LabeledFrame` for. + """ + + if isinstance(labeled_frame_or_camera, LabeledFrame): + labeled_frame: LabeledFrame = labeled_frame_or_camera + camera = self.get_camera(labeled_frame=labeled_frame) + + elif isinstance(labeled_frame_or_camera, Camcorder): + camera: Camcorder = labeled_frame_or_camera + labeled_frame = self.get_labeled_frame(camera=camera) + + else: + logger.warning( + f"Cannot remove LabeledFrame: {labeled_frame_or_camera} is not a " + "LabeledFrame or Camcorder." + ) + + # Remove the `LabeledFrame` from the `FrameGroup` + self._labeled_frame_by_cam.pop(camera, None) + self._cam_by_labeled_frame.pop(labeled_frame, None) + + def get_labeled_frame(self, camera: Camcorder) -> Optional[LabeledFrame]: + """Get `LabeledFrame` for `Camcorder` if exists. Otherwise, None. + + Args: + camera: `Camcorder` + + Returns: + `LabeledFrame` + """ + + return self._labeled_frame_by_cam.get(camera, None) + + def get_camera(self, labeled_frame: LabeledFrame) -> Optional[Camcorder]: + """Get `Camcorder` for `LabeledFrame` if exists. Otherwise, None. + + Args: + labeled_frame: `LabeledFrame` + + Returns: + `Camcorder` + """ + + return self._cam_by_labeled_frame.get(labeled_frame, None) + + def _create_and_add_labeled_frame(self, camera: Camcorder) -> LabeledFrame: + """Create and add a `LabeledFrame` to the `FrameGroup`. + + This also adds the `LabeledFrame` to the `RecordingSession`'s `Labels` object. + + Args: + camera: `Camcorder` + + Returns: + `LabeledFrame` that was created and added to the `FrameGroup`. + """ + + video = self.session.get_video(camera) + if video is None: + # There should be a `Video` linked to all cams_to_include + raise ValueError( + f"Camcorder {camera} is not linked to a video in this " + f"RecordingSession {self.session}." + ) + + labeled_frame = LabeledFrame(video=video, frame_idx=self.frame_idx) + self.add_labeled_frame(labeled_frame=labeled_frame) + + return labeled_frame + + def _create_and_add_instance( + self, + instance_group: InstanceGroup, + camera: Camcorder, + labeled_frame: LabeledFrame, + ): + """Add an `Instance` to the `InstanceGroup` (and `FrameGroup`). + + Args: + instance_group: `InstanceGroup` to add the `Instance` to. + camera: `Camcorder` to link the `Instance` to. + labeled_frame: `LabeledFrame` that the `Instance` is in. + """ + + # Add the `Instance` to the `InstanceGroup` + instance = instance_group.create_and_add_instance( + cam=camera, labeled_frame=labeled_frame + ) + + # Add the `Instance` to the `FrameGroup` + self._instances_by_cam[camera].add(instance=instance) + + def create_and_add_missing_instances(self, instance_group: InstanceGroup): + """Add missing instances to `FrameGroup` from `InstanceGroup`s. + + If an `InstanceGroup` does not have an `Instance` for a `Camcorder` in + `FrameGroup.cams_to_include`, then create an `Instance` and add it to the + `InstanceGroup`. + + Args: + instance_group: `InstanceGroup` objects to add missing `Instance`s for. + + Raises: + ValueError: If a `Camcorder` in `FrameGroup.cams_to_include` is not in the + `InstanceGroup`. + """ + + # Check that the `InstanceGroup` has `LabeledFrame`s for all included views + for cam in self.cams_to_include: + + # If the `Camcorder` is in the `InstanceGroup`, then `Instance` exists + if cam in instance_group.cameras: + continue # Skip to next cam + + # Get the `LabeledFrame` for the view + labeled_frame = self.get_labeled_frame(camera=cam) + if labeled_frame is None: + # There is no `LabeledFrame` for this view, so lets make one + labeled_frame = self._create_and_add_labeled_frame(camera=cam) + + # Create an instance + self._create_and_add_instance( + instance_group=instance_group, cam=cam, labeled_frame=labeled_frame + ) + + def upsert_points( + self, + points: np.ndarray, + instance_groups: List[InstanceGroup], + exclude_complete: bool = True, + ): + """Upsert points for `Instance`s at included cams in specified `InstanceGroup`. + + This will update the points for existing `Instance`s in the `InstanceGroup`s and + also add new `Instance`s if they do not exist. + + + Included cams are specified by `FrameGroup.cams_to_include`. + + The ordering of the `InstanceGroup`s in `instance_groups` should match the + ordering of the second dimension (T) in `points`. + + Args: + points: Numpy array of shape (M, T, N, 2) where M is the number of views, T + is the number of Tracks, N is the number of Nodes, and 2 is for x, y. + instance_groups: List of `InstanceGroup` objects to update points for. + exclude_complete: If True, then only update points that are not marked as + complete. Default is True. + """ + + # Check that the correct shape was passed in + n_views, n_instances, n_nodes, n_coords = points.shape + assert n_views == len( + self.cams_to_include + ), f"Expected {len(self.cams_to_include)} views, got {n_views}." + assert n_instances == len( + instance_groups + ), f"Expected {len(instance_groups)} instances, got {n_instances}." + assert n_coords == 2, f"Expected 2 coordinates, got {n_coords}." + + # Update points for each `InstanceGroup` + for ig_idx, instance_group in enumerate(instance_groups): + # Ensure that `InstanceGroup`s is in this `FrameGroup` + self._raise_if_instance_group_not_in_frame_group( + instance_group=instance_group + ) + + # Check that the `InstanceGroup` has `Instance`s for all cams_to_include + self.create_and_add_missing_instances(instance_group=instance_group) + + # Update points for each `Instance` in `InstanceGroup` + instance_points = points[:, ig_idx, :, :] # M x N x 2 + instance_group.update_points( + points=instance_points, + cams_to_include=self.cams_to_include, + exclude_complete=exclude_complete, + ) + + def _raise_if_instance_not_in_instance_group(self, instance: Instance): + """Raise a ValueError if the `Instance` is not in an `InstanceGroup`. + + Args: + instance: `Instance` to check if in an `InstanceGroup`. + + Raises: + ValueError: If the `Instance` is not in an `InstanceGroup`. + """ + + instance_group = self.get_instance_group(instance=instance) + if instance_group is None: + raise ValueError( + f"Instance {instance} is not in an InstanceGroup within the FrameGroup." + ) + + def _raise_if_instance_incompatibile(self, instance: Instance, camera: Camcorder): + """Raise a ValueError if the `Instance` is incompatible with the `FrameGroup`. + + The `Instance` is incompatible if: + 1. the `Instance` is not linked to a `LabeledFrame`. + 2. the frame index of the `Instance` does not match the frame index of the + `FrameGroup`. + 3. the `LabeledFrame` of the `Instance` does not match the existing + `LabeledFrame` for the `Camcorder` in the `FrameGroup`. + + Args: + instance: `Instance` to check compatibility of. + camera: `Camcorder` to link the `Instance` to. + """ + + labeled_frame = instance.frame + if labeled_frame is None: + raise ValueError( + f"Instance {instance} is not linked to a LabeledFrame. " + "Cannot add to FrameGroup." + ) + + frame_idx = labeled_frame.frame_idx + if frame_idx != self.frame_idx: + raise ValueError( + f"Instance {instance} frame index {frame_idx} does not match " + f"FrameGroup frame index {self.frame_idx}." + ) + + labeled_frame_fg = self.get_labeled_frame(camera=camera) + if labeled_frame_fg is None: + pass + elif labeled_frame != labeled_frame_fg: + raise ValueError( + f"Instance's LabeledFrame {labeled_frame} is not the same as " + f"FrameGroup's LabeledFrame {labeled_frame_fg} for Camcorder {camera}." + ) + + def _raise_if_instance_group_incompatible(self, instance_group: InstanceGroup): + """Raise a ValueError if `InstanceGroup` is incompatible with `FrameGroup`. + + An `InstanceGroup` is incompatible if + - the `frame_idx` does not match the `FrameGroup`'s `frame_idx`. + - the `InstanceGroup.name` is already used in the `FrameGroup`. + + Args: + instance_group: `InstanceGroup` to check compatibility of. + + Raises: + ValueError: If the `InstanceGroup` is incompatible with the `FrameGroup`. + """ + + if instance_group.frame_idx != self.frame_idx: + raise ValueError( + f"InstanceGroup {instance_group} frame index {instance_group.frame_idx} " + f"does not match FrameGroup frame index {self.frame_idx}." + ) + + if instance_group.name in self._instance_group_name_registry: + raise ValueError( + f"InstanceGroup name {instance_group.name} is already registered in " + "this FrameGroup's list of names: " + f"{self._instance_group_name_registry}\n" + "Please use a unique name for the new InstanceGroup." + ) + + def _raise_if_instance_group_not_in_frame_group( + self, instance_group: InstanceGroup + ): + """Raise a ValueError if `InstanceGroup` is not in this `FrameGroup`.""" + + if instance_group not in self.instance_groups: + raise ValueError( + f"InstanceGroup {instance_group} is not in this FrameGroup: " + f"{self.instance_groups}." + ) + + @classmethod + def from_instance_groups( + cls, + session: RecordingSession, + instance_groups: List["InstanceGroup"], + ) -> Optional["FrameGroup"]: + """Creates a `FrameGroup` object from an `InstanceGroup` object. + + Args: + session: `RecordingSession` object. + instance_groups: A list of `InstanceGroup` objects. + + Returns: + `FrameGroup` object or None if no "real" (determined by `frame_idx` other + than None) frames found. + """ + + if len(instance_groups) == 0: + raise ValueError("instance_groups must contain at least one InstanceGroup") + + # Get frame index from first instance group + frame_idx = instance_groups[0].frame_idx + + # Create and return `FrameGroup` object + return cls( + frame_idx=frame_idx, instance_groups=instance_groups, session=session + ) + + def enforce_frame_idx_unique( + self, session: RecordingSession, frame_idx: int + ) -> bool: + """Enforces that all frame indices are unique in `RecordingSession`. + + Removes existing `FrameGroup` object from the + `RecordingSession._frame_group_by_frame_idx`. + + Args: + session: `RecordingSession` object. + frame_idx: Frame index. + """ + + if session.frame_groups.get(frame_idx, None) is not None: + # Remove existing `FrameGroup` object from the + # `RecordingSession._frame_group_by_frame_idx` + logger.warning( + f"Frame index {frame_idx} for FrameGroup already exists in this " + "RecordingSession. Overwriting." + ) + session.frame_groups.pop(frame_idx) diff --git a/sleap/io/dataset.py b/sleap/io/dataset.py index 1221cadae..185b235a8 100644 --- a/sleap/io/dataset.py +++ b/sleap/io/dataset.py @@ -274,6 +274,12 @@ def remove_video(self, video: Video): del self._lf_by_video[video] if video in self._frame_idx_map: del self._frame_idx_map[video] + self.remove_session_video(video=video) + + def remove_session_video(self, video: Video): + """Remove video from session in cache.""" + + # TODO(LM): Also remove LabeledFrames from frame_group if video in self._session_by_video: del self._session_by_video[video] @@ -442,8 +448,7 @@ def _del_count_cache(self, video, video_idx, frame_idx, type_key: str): @attr.s(auto_attribs=True, repr=False, str=False) class Labels(MutableSequence): - """ - The :class:`Labels` class collects the data for a SLEAP project. + """The :class:`Labels` class collects the data for a SLEAP project. This class is front-end for all interactions with loading, writing, and modifying these labels. The actual storage backend for the data @@ -967,6 +972,9 @@ def remove_frame(self, lf: LabeledFrame, update_cache: bool = True): update_cache: If True, update the internal frame cache. If False, cache update can be postponed (useful when removing many frames). """ + + # TODO(LM): Remove LabeledFrame from any frame groups it's in. + self.labeled_frames.remove(lf) if update_cache: self._cache.remove_frame(lf) @@ -977,6 +985,8 @@ def remove_frames(self, lfs: List[LabeledFrame]): Args: lfs: A sequence of labeled frames to remove. """ + + # TODO(LM): Remove LabeledFrame from any frame groups it's in. to_remove = set(lfs) self.labeled_frames = [lf for lf in self.labeled_frames if lf not in to_remove] self.update_cache() @@ -1000,6 +1010,8 @@ def remove_empty_instances(self, keep_empty_frames: bool = True): def remove_empty_frames(self): """Remove frames with no instances.""" + + # TODO(LM): Remove LabeledFrame from any frame groups it's in. self.labeled_frames = [ lf for lf in self.labeled_frames if len(lf.instances) > 0 ] @@ -1657,7 +1669,8 @@ def remove_video(self, video: Video): # Delete video self.videos.remove(video) - self._cache.remove_video(video) + self.remove_session_video(video=video) + self._cache.remove_video(video=video) def add_session(self, session: RecordingSession): """Add a recording session to the labels. @@ -1702,16 +1715,21 @@ def get_session(self, video: Video) -> Optional[RecordingSession]: """ return self._cache._session_by_video.get(video, None) - def remove_session_video(self, session: RecordingSession, video: Video): - """Remove a video from a recording session. + def remove_session_video(self, video: Video): + """Remove a video from its linked recording session (if any). Args: - session: `RecordingSession` instance video: `Video` instance """ - self._cache._session_by_video.pop(video, None) - if video in session.videos: + session = self.get_session(video) + + if session is None: + return + + # Need to remove from cache first to avoid circular reference + self._cache.remove_session_video(video=video) + if session.get_camera(video) is not None: session.remove_video(video) @classmethod @@ -1845,6 +1863,8 @@ def remove_user_instances(self, new_labels: Optional["Labels"] = None): # Keep only labeled frames with no conflicting predictions. self.labeled_frames = keep_lfs + # TODO(LM): Remove LabeledFrame from any frame groups it's in. + def remove_predictions(self, new_labels: Optional["Labels"] = None): """Clear predicted instances from the labels. @@ -1881,6 +1901,8 @@ def remove_predictions(self, new_labels: Optional["Labels"] = None): # Keep only labeled frames with no conflicting predictions. self.labeled_frames = keep_lfs + # TODO(LM): Remove LabeledFrame from any frame groups it's in. + def remove_untracked_instances(self, remove_empty_frames: bool = True): """Remove instances that do not have a track assignment. @@ -1998,6 +2020,7 @@ def merge_matching_frames(self, video: Optional[Video] = None): for vid in {lf.video for lf in self.labeled_frames}: self.merge_matching_frames(video=vid) else: + # TODO(LM): Remove LabeledFrame from any frame groups it's in. self.labeled_frames = LabeledFrame.merge_frames( self.labeled_frames, video=video ) diff --git a/tests/data/cameras/minimal_session/min_session_user_labeled.slp b/tests/data/cameras/minimal_session/min_session_user_labeled.slp new file mode 100644 index 0000000000000000000000000000000000000000..c7d8fb2dd2d61df7f43a03774a111547f716128a GIT binary patch literal 60444 zcmeIb33wF6)<0Zf7i3335p2Sy5<(`kC4fvJghkn8UrmP)LL?+13421Cuqr!(Tybka zP(Y9!A7ZWETg#SlKP1#;q z@(&!>qgzZ2A;k#t$D<@8c1dwIR5r9ZAx@Aljw?F;Zz9k>rd3xyvvqQMbLBCjo;>*v z9YRQ{eEwTW`tO6Kg}^aVuJB({p#T1d)GK29UxEPoZy%{|8F`#8;~Gu_<0v>gHva!O zcJJJ!O$aGTFy1cs`u5DwpTF37`*EnhR$Pojz1z$0L*=}5$>uHJ?fGF`KRojG(}%}p#wHDxidNQqtd)N#ag`&kn*n$^;d9A{apeoI zAhczC!T19~h;@a?D``lGKpgFW*UREe8tcHqFg|opT>P+vl)<6R#)l3`N=`_L8=er_EVNCtrWvX6NpZdYnM$_R*DY0x= zMp9}@Y-Va&$ME54uF$a1#Pqna8S!z+OipI{$b_)aL5b;j%E>blGMNT!U{Xrj$jn%= zWn?Y!L*r6X5|T4wljAZnL$kBV->Lk+Tlc?D`3z=^e>e1h8}eNFe>e1hoASex2LHQ( z|NGpADgW;V{_j(s2ep4U^naV%aOMBq(D#oB3(ZVtjAJ802j2SP2p#x8a1kq-!oQ3_ zVb4$GYl^(*3I5Md$}_3Ad4BTiy+SL_f)9nyf9vy;`)~pQ$M>t}Z$P~ACY-;!=vxs2 zMFW!ktocWSzv`dD?1%ISzW@IBE%vLR+t};Z`a&FM z!H2>}wbyjn^Z&-7p!bJ)69`aKYm&bK@hWJ1{?SF>iV!G5pa_8?1d0$SLg2pPHKGb%FD;dHyAU11U75n&!@bhvw9Sbu)53~)Ofd7XTKBRpatV>vh}BQrG} zc9D#4lZf!hC{L8j9p#LQaCkgX?nvOw3FQBbCOtJ%D$hhY-Cjo&|3Atb72)!7P1tF) z%j=Acj`XsQNDq_ciE>6pFpgetM1;rT^)N1MKbw+~jEtJN-R^Lg+v|;TMMg(NdR?xt zCXvyuaF>(KF52ylh>nbkVr`CS#y`>#?cq9lqTLSn!0a%9&=CM($HFj-a(Kf%t|+Fd z#}nalMSBzw)e(1!qSNVM)Af3ofm~j9w8M$;;W0mq4EKmgPh^yn&)gH~iFQUsM}_fL zM}*TG?RIQavpi)qDco{cOq{|Z>%{+vy2?jqS5BGQ@94=?HJJRir;LtiFqQYH_6)4>7<`XV0l z`y>tr%{L<9`j?!{En?Y7DXA_(XJ?u!^x)Z2xm~S z7|Z;bEqWJ=lYlD=YAljRL`1W7qzE0Fvma`^N+Y=7^7Iwaz=Yu z@Qv`gB0YupBE!+^WO0-&TowS>ti0S`!rjhj7HIj!hqbV{$=jTaAsgcLMn*UoG(m7= z(_)L(!$PW)g$RZx2h!yXcSc6Cz{q`(IeeIlE$K)H3!ol13*!+k58~+Y!;$?&r!Z$^ zI&&16VVO}K(NW@p>W`v2;?7ZIR}3B-nf?(`E(bax9`ie6M7V=RMQ~dWb36yT=<&el zh#Ae=T}+DCi!gfg!&s;{Mltt~iimJIm|Y{7-;2rmx6sQASe6Aw^a}v@sS~eGCLb~ zLGh{SgA>x(Psd{6@gd6^7!x}@E{$W&wwR$_=B;d>6zX9|c8L#lvm?7ih4SB+u_(*V z!&qB0))&UcG-G4K7)>)qo1J|(d8@R@OW;rN$`E`o$@2mhu-pQCjx|1XR6;uc0UPHN z&aNViN5-&(}A1$Fn_WdP00=0{a1-_%R#%bz9m{KX>RZM>pZ5DI@E9hc2Per66Qf3^@!#V0cMQxP$dDf& zs;J<-tqQJu8nFFUGe>YXQMYB|;6G8hHIv)$iM~CbJ7vQK-UivoJLbboa2q}hygQqg zgGsy%A2#bdAkWZE=HeV!?d)$mGl<8FoYrN=Y4@AfgFhMJ&FI59KFrJaIVj z%!4O+Ee;1ZMdOJJPaJuy@&-BbI-_t@B%XNj#1Y9N3)A$LUh?TcXZAB<78XY*Bqa{z z!7LmE$j%;dNy)K1cn9xpA2%{3erRlR!jQ}Y$8Z)slK8eJI1doP19R~1n7H)VZUy%C z=+U9TKB-(f%&Q>w-G`=*Oy*a(+YjrJJ~D+rLkX@UOo3n8f_Jx1h~qcB!8oU&H6h3wdB(;3)Y+ty}N)9)yg+>TFX` zh0)#VThw6hamPx{@?O#wplLALQArs|gOU?u7IguHthpxBpHHn46C$QqhO}+fv3m?_ z>(Q+zKd_GY)Zy&Xp2@Nl#iuf!6mYyVuAKNb?>+mp65Kh&97^~EzV|HXJ!8i(q{x4q z-XZ^Yv|pZp{M|+0iV!G5pa_8?1d0$SLg0S`0mFWBB4tydYaJ6Q?0HPz^&H+}O`2$k z7W$8G4BleT9+D$k$T2#Ow-D>h1lID$@x`Uy`DG$~>C0McGnWE2>stB>P>}~)Nj~JB z>sg#iJ5!AFX%aW9S_wwK>Vx?3xIf3U9`B6mJM~u$y8Xhcm{M1HOM{k!HalOONS74f zUDg_q&8gWZGzT~v-gZ(S{gqsy^ODb`EF*dc$Rf4RWDA{*o)bmOjd^m6b;>6+9DPdi zvHDkpc^R`$OEk!~Ss>L~GD@~k@27%Kt^K)@bG=R=ou0frNwk=E4;xFFqIA_2#QLkLttZE-mqz9kLd8YDvKuw5Ndx?<#WlOZz0pS~lev?zN zkA5|ldjO%|E$0^8mGX7d5ayBFAEZIYI@W(YEA6+LncRS?l&8s=KEPsRPhA zj6Q3C4|(@J#IWvT!pcX`H%NRESWq8)8Bsm35~yhDdnA?i*wa9z*VrpttlxhWW2WT! 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context.state["filename"] = centered_pair_predictions_hdf5_path params = {"all_videos": True, "csv": csv} @@ -955,344 +954,3 @@ def test_AddSession( assert len(labels.sessions) == 2 assert context.state["session"] is session assert labels.sessions[1] is not session - - -def test_triangulate_session_get_all_views_at_frame( - multiview_min_session_labels: Labels, -): - labels = multiview_min_session_labels - session = labels.sessions[0] - lf = labels.labeled_frames[0] - frame_idx = lf.frame_idx - - # Test with no cams_to_include, expect views from all linked cameras - views = TriangulateSession.get_all_views_at_frame(session, frame_idx) - assert len(views) == len(session.linked_cameras) - for cam in session.linked_cameras: - assert views[cam].frame_idx == frame_idx - assert views[cam].video == session[cam] - - # Test with cams_to_include, expect views from only those cameras - cams_to_include = session.linked_cameras[0:2] - views = TriangulateSession.get_all_views_at_frame( - session, frame_idx, cams_to_include=cams_to_include - ) - assert len(views) == len(cams_to_include) - for cam in cams_to_include: - assert views[cam].frame_idx == frame_idx - assert views[cam].video == session[cam] - - -def test_triangulate_session_get_instances_across_views( - multiview_min_session_labels: Labels, -): - - labels = multiview_min_session_labels - session = labels.sessions[0] - - # Test get_instances_across_views - lf: LabeledFrame = labels[0] - track = labels.tracks[0] - instances: Dict[ - Camcorder, Instance - ] = TriangulateSession.get_instances_across_views( - session=session, frame_idx=lf.frame_idx, track=track - ) - assert len(instances) == len(session.videos) - for vid in session.videos: - cam = session[vid] - inst = instances[cam] - assert inst.frame_idx == lf.frame_idx - assert inst.track == track - assert inst.video == vid - - # Try with excluding cam views - lf: LabeledFrame = labels[2] - track = labels.tracks[1] - cams_to_include = session.linked_cameras[:4] - videos_to_include: Dict[ - Camcorder, Video - ] = session.get_videos_from_selected_cameras(cams_to_include=cams_to_include) - assert len(cams_to_include) == 4 - assert len(videos_to_include) == len(cams_to_include) - instances: Dict[ - Camcorder, Instance - ] = TriangulateSession.get_instances_across_views( - session=session, - frame_idx=lf.frame_idx, - track=track, - cams_to_include=cams_to_include, - ) - assert len(instances) == len( - videos_to_include - ) # May not be true if no instances at that frame - for cam, vid in videos_to_include.items(): - inst = instances[cam] - assert inst.frame_idx == lf.frame_idx - assert inst.track == track - assert inst.video == vid - - # Try with only a single view - cams_to_include = [session.linked_cameras[0]] - with pytest.raises(ValueError): - instances = TriangulateSession.get_instances_across_views( - session=session, - frame_idx=lf.frame_idx, - cams_to_include=cams_to_include, - track=track, - require_multiple_views=True, - ) - - # Try with multiple views, but not enough instances - track = labels.tracks[1] - cams_to_include = session.linked_cameras[4:6] - with pytest.raises(ValueError): - instances = TriangulateSession.get_instances_across_views( - session=session, - frame_idx=lf.frame_idx, - cams_to_include=cams_to_include, - track=track, - require_multiple_views=True, - ) - - -def test_triangulate_session_get_and_verify_enough_instances( - multiview_min_session_labels: Labels, - caplog, -): - labels = multiview_min_session_labels - session = labels.sessions[0] - lf = labels.labeled_frames[0] - track = labels.tracks[1] - - # Test with no cams_to_include, expect views from all linked cameras - instances = TriangulateSession.get_and_verify_enough_instances( - session=session, frame_idx=lf.frame_idx, track=track - ) - assert len(instances) == 6 # Some views don't have an instance at this track - for cam in session.linked_cameras: - if cam.name in ["side", "sideL"]: # The views that don't have an instance - continue - assert instances[cam].frame_idx == lf.frame_idx - assert instances[cam].track == track - assert instances[cam].video == session[cam] - - # Test with cams_to_include, expect views from only those cameras - cams_to_include = session.linked_cameras[-2:] - instances = TriangulateSession.get_and_verify_enough_instances( - session=session, - frame_idx=lf.frame_idx, - cams_to_include=cams_to_include, - track=track, - ) - assert len(instances) == len(cams_to_include) - for cam in cams_to_include: - assert instances[cam].frame_idx == lf.frame_idx - assert instances[cam].track == track - assert instances[cam].video == session[cam] - - # Test with not enough instances, expect views from only those cameras - cams_to_include = session.linked_cameras[0:2] - instances = TriangulateSession.get_and_verify_enough_instances( - session=session, frame_idx=lf.frame_idx, cams_to_include=cams_to_include - ) - assert isinstance(instances, bool) - assert not instances - messages = "".join([rec.message for rec in caplog.records]) - assert "One or less instances found for frame" in messages - - -def test_triangulate_session_verify_enough_views( - multiview_min_session_labels: Labels, caplog -): - labels = multiview_min_session_labels - session = labels.sessions[0] - - # Test with enough views - enough_views = TriangulateSession.verify_enough_views( - session=session, show_dialog=False - ) - assert enough_views - messages = "".join([rec.message for rec in caplog.records]) - assert len(messages) == 0 - caplog.clear() - - # Test with not enough views - cams_to_include = [session.linked_cameras[0]] - enough_views = TriangulateSession.verify_enough_views( - session=session, cams_to_include=cams_to_include, show_dialog=False - ) - assert not enough_views - messages = "".join([rec.message for rec in caplog.records]) - assert "One or less cameras available." in messages - - -def test_triangulate_session_verify_views_and_instances( - multiview_min_session_labels: Labels, -): - labels = multiview_min_session_labels - session = labels.sessions[0] - - # Test with enough views and instances - lf = labels.labeled_frames[0] - instance = lf.instances[0] - - context = CommandContext.from_labels(labels) - params = { - "video": session.videos[0], - "session": session, - "frame_idx": lf.frame_idx, - "instance": instance, - "show_dialog": False, - } - enough_views = TriangulateSession.verify_views_and_instances(context, params) - assert enough_views - assert "instances" in params - - # Test with not enough views - cams_to_include = [session.linked_cameras[0]] - params = { - "video": session.videos[0], - "session": session, - "frame_idx": lf.frame_idx, - "instance": instance, - "cams_to_include": cams_to_include, - "show_dialog": False, - } - enough_views = TriangulateSession.verify_views_and_instances(context, params) - assert not enough_views - assert "instances" not in params - - -def test_triangulate_session_calculate_reprojected_points( - multiview_min_session_labels: Labels, -): - """Test `TriangulateSession.calculate_reprojected_points`.""" - - session = multiview_min_session_labels.sessions[0] - lf: LabeledFrame = multiview_min_session_labels[0] - track = multiview_min_session_labels.tracks[0] - instances: Dict[ - Camcorder, Instance - ] = TriangulateSession.get_instances_across_views( - session=session, frame_idx=lf.frame_idx, track=track - ) - instances_and_coords = TriangulateSession.calculate_reprojected_points( - session=session, instances=instances - ) - - # Check that we get the same number of instances as input - assert len(instances) == len(list(instances_and_coords)) - - # Check that each instance has the same number of points - for inst, inst_coords in instances_and_coords: - assert inst_coords.shape[1] == len(inst.skeleton) # (1, 15, 2) - - -def test_triangulate_session_get_instances_matrices( - multiview_min_session_labels: Labels, -): - """Test `TriangulateSession.get_instance_matrices`.""" - labels = multiview_min_session_labels - session = labels.sessions[0] - lf: LabeledFrame = labels[0] - track = labels.tracks[0] - instances: Dict[ - Camcorder, Instance - ] = TriangulateSession.get_instances_across_views( - session=session, frame_idx=lf.frame_idx, track=track - ) - instances_matrices = TriangulateSession.get_instances_matrices( - instances_ordered=instances.values() - ) - - # Verify shape - n_views = len(instances) - n_frames = 1 - n_tracks = 1 - n_nodes = len(labels.skeleton) - assert instances_matrices.shape == (n_views, n_frames, n_tracks, n_nodes, 2) - - -def test_triangulate_session_update_instances(multiview_min_session_labels: Labels): - """Test `RecordingSession.update_instances`.""" - - # Test update_instances - session = multiview_min_session_labels.sessions[0] - lf: LabeledFrame = multiview_min_session_labels[0] - track = multiview_min_session_labels.tracks[0] - instances: Dict[ - Camcorder, Instance - ] = TriangulateSession.get_instances_across_views( - session=session, frame_idx=lf.frame_idx, track=track - ) - instances_and_coordinates = TriangulateSession.calculate_reprojected_points( - session=session, instances=instances - ) - for inst, inst_coords in instances_and_coordinates: - assert inst_coords.shape == (1, len(inst.skeleton), 2) # Tracks, Nodes, 2 - # Assert coord are different from original - assert not np.array_equal(inst_coords, inst.points_array) - - # Just run for code coverage testing, do not test output here (race condition) - # (see "functional core, imperative shell" pattern) - TriangulateSession.update_instances(session=session, instances=instances) - - -def test_triangulate_session_do_action(multiview_min_session_labels: Labels): - """Test `TriangulateSession.do_action`.""" - - labels = multiview_min_session_labels - session = labels.sessions[0] - - # Test with enough views and instances - lf = labels.labeled_frames[0] - instance = lf.instances[0] - - context = CommandContext.from_labels(labels) - params = { - "video": session.videos[0], - "session": session, - "frame_idx": lf.frame_idx, - "instance": instance, - "ask_again": True, - } - TriangulateSession.do_action(context, params) - - # Test with not enough views - cams_to_include = [session.linked_cameras[0]] - params = { - "video": session.videos[0], - "session": session, - "frame_idx": lf.frame_idx, - "instance": instance, - "cams_to_include": cams_to_include, - "ask_again": True, - } - TriangulateSession.do_action(context, params) - - -def test_triangulate_session(multiview_min_session_labels: Labels): - """Test `TriangulateSession`.""" - - labels = multiview_min_session_labels - session = labels.sessions[0] - video = session.videos[0] - lf = labels.labeled_frames[0] - instance = lf.instances[0] - context = CommandContext.from_labels(labels) - - # Test with enough views and instances so we don't get any GUI pop-ups - context.triangulateSession( - frame_idx=lf.frame_idx, - video=video, - instance=instance, - session=session, - ) - - # Test with using state to gather params - context.state["session"] = session - context.state["video"] = video - context.state["instance"] = instance - context.state["frame_idx"] = lf.frame_idx - context.triangulateSession() diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 35ecaa50e..16fbfd0a7 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -1,12 +1,18 @@ """Module to test functions in `sleap.io.cameras`.""" -from typing import Dict, List +from typing import Dict, List, Tuple, Union import numpy as np import pytest -from sleap.io.cameras import Camcorder, CameraCluster, RecordingSession -from sleap.io.dataset import Instance, LabeledFrame, Labels, LabelsDataCache +from sleap.io.cameras import ( + Camcorder, + CameraCluster, + InstanceGroup, + FrameGroup, + RecordingSession, +) +from sleap.io.dataset import Instance, Labels from sleap.io.video import Video @@ -164,6 +170,13 @@ def test_recording_session( # Test __repr__ assert f"{session.__class__.__name__}(" in repr(session) + # Test new_frame_group + frame_group = session.new_frame_group(frame_idx=0) + assert isinstance(frame_group, FrameGroup) + assert frame_group.session == session + assert frame_group.frame_idx == 0 + assert frame_group == session.frame_groups[0] + # Test add_video camcorder = session.camera_cluster.cameras[0] session.add_video(centered_pair_vid, camcorder) @@ -280,3 +293,177 @@ def test_recording_session_remove_video(multiview_min_session_labels: Labels): session.remove_video(video) assert labels_cache._session_by_video.get(video, None) is None assert video not in session.videos + + +# TODO(LM): Remove after adding method to (de)seralize `InstanceGroup` +def create_instance_group( + labels: Labels, + frame_idx: int, + add_dummy: bool = False, +) -> Union[ + InstanceGroup, Tuple[InstanceGroup, Dict[Camcorder, Instance], Instance, Camcorder] +]: + """Create an `InstanceGroup` from a `Labels` object. + + Args: + labels: The `Labels` object to use. + frame_idx: The frame index to use. + add_dummy: Whether to add a dummy instance to the `InstanceGroup`. + + Returns: + The `InstanceGroup` object. + """ + + session = labels.sessions[0] + + lf = labels.labeled_frames[0] + instance = lf.instances[0] + + instance_by_camera = {} + for cam in session.linked_cameras: + video = session.get_video(cam) + lfs_in_view = labels.find(video=video, frame_idx=frame_idx) + if len(lfs_in_view) > 0: + instance = lfs_in_view[0].instances[0] + instance_by_camera[cam] = instance + + # Add a dummy instance to make sure it gets ignored + if add_dummy: + dummy_instance = Instance.from_numpy( + np.full( + shape=(len(instance.skeleton.nodes), 2), + fill_value=np.nan, + ), + skeleton=instance.skeleton, + ) + instance_by_camera[cam] = dummy_instance + + instance_group = InstanceGroup.from_dict( + d=instance_by_camera, name="test_instance_group", name_registry={} + ) + return ( + (instance_group, instance_by_camera, dummy_instance, cam) + if add_dummy + else instance_group + ) + + +def test_instance_group(multiview_min_session_labels: Labels): + """Test `InstanceGroup` data structure.""" + + labels = multiview_min_session_labels + session = labels.sessions[0] + camera_cluster = session.camera_cluster + + lf = labels.labeled_frames[0] + frame_idx = lf.frame_idx + + # Test `from_dict` + instance_group, instance_by_camera, dummy_instance, cam = create_instance_group( + labels=labels, frame_idx=frame_idx, add_dummy=True + ) + assert isinstance(instance_group, InstanceGroup) + assert instance_group.frame_idx == frame_idx + assert instance_group.camera_cluster == camera_cluster + for camera in session.linked_cameras: + if camera == cam: + assert instance_by_camera[camera] == dummy_instance + assert camera not in instance_group.cameras + else: + instance = instance_group[camera] + assert isinstance(instance, Instance) + assert instance_group[camera] == instance_by_camera[camera] + assert instance_group[instance] == camera + + # Test `__repr__` + print(instance_group) + + # Test `__len__` + assert len(instance_group) == len(instance_by_camera) - 1 + + # Test `get_cam` + assert instance_group.get_cam(dummy_instance) is None + + # Test `get_instance` + assert instance_group.get_instance(cam) is None + + # Test `instances` property + assert len(instance_group.instances) == len(instance_by_camera) - 1 + + # Test `cameras` property + assert len(instance_group.cameras) == len(instance_by_camera) - 1 + + # Test `__getitem__` with `int` key + assert isinstance(instance_group[0], Instance) + with pytest.raises(KeyError): + instance_group[len(instance_group)] + + # Test `_dummy_instance` property + assert ( + instance_group.dummy_instance.skeleton == instance_group.instances[0].skeleton + ) + assert isinstance(instance_group.dummy_instance, Instance) + + # Test `numpy` method + instance_group_numpy = instance_group.numpy() + assert isinstance(instance_group_numpy, np.ndarray) + n_views, n_nodes, n_coords = instance_group_numpy.shape + assert n_views == len(instance_group.camera_cluster.cameras) + assert n_nodes == len(instance_group.dummy_instance.skeleton.nodes) + assert n_coords == 2 + + # Test `update_points` method + instance_group.update_points(np.full((n_views, n_nodes, n_coords), 0)) + instance_group_numpy = instance_group.numpy() + np.nan_to_num(instance_group_numpy, nan=0) + assert np.all(np.nan_to_num(instance_group_numpy, nan=0) == 0) + + # Populate with only dummy instance and test `from_dict` + instance_by_camera = {cam: dummy_instance} + with pytest.raises(ValueError): + instance_group = InstanceGroup.from_dict( + d=instance_by_camera, name="test_instance_group", name_registry={} + ) + + +def test_frame_group(multiview_min_session_labels: Labels): + """Test `FrameGroup` data structure.""" + + labels = multiview_min_session_labels + session = labels.sessions[0] + + # Test `from_instance_groups` from list of instance groups + frame_idx_1 = 0 + instance_group = create_instance_group(labels=labels, frame_idx=frame_idx_1) + instance_groups: List[InstanceGroup] = [instance_group] + frame_group_1 = FrameGroup.from_instance_groups( + session=session, instance_groups=instance_groups + ) + assert isinstance(frame_group_1, FrameGroup) + assert frame_idx_1 in session.frame_groups + assert len(session.frame_groups) == 1 + assert frame_group_1 == session.frame_groups[frame_idx_1] + assert len(frame_group_1.instance_groups) == 1 + + # Test `RecordingSession.frame_groups` property + frame_idx_2 = 1 + instance_group = create_instance_group(labels=labels, frame_idx=frame_idx_2) + instance_groups: List[InstanceGroup] = [instance_group] + frame_group_2 = FrameGroup.from_instance_groups( + session=session, instance_groups=instance_groups + ) + assert isinstance(frame_group_2, FrameGroup) + assert frame_idx_2 in session.frame_groups + assert len(session.frame_groups) == 2 + assert frame_group_2 == session.frame_groups[frame_idx_2] + assert len(frame_group_2.instance_groups) == 1 + + frame_idx_3 = 2 + frame_group_3 = FrameGroup(frame_idx=frame_idx_3, session=session) + assert isinstance(frame_group_3, FrameGroup) + assert frame_idx_3 in session.frame_groups + assert len(session.frame_groups) == 3 + assert frame_group_3 == session.frame_groups[frame_idx_3] + assert len(frame_group_3.instance_groups) == 0 + + # TODO(LM): Test underlying dictionaries more thoroughly diff --git a/tests/io/test_dataset.py b/tests/io/test_dataset.py index 020dd64ed..a544b7703 100644 --- a/tests/io/test_dataset.py +++ b/tests/io/test_dataset.py @@ -1030,7 +1030,7 @@ def test_add_session_and_update_session( assert labels._cache._session_by_video == {video: session} assert labels.get_session(video) == session - labels.remove_session_video(session, video) + labels.remove_session_video(video=video) assert video not in session.videos assert video not in labels._cache._session_by_video From 712fc70610973251648433d723f4d557d87b56d5 Mon Sep 17 00:00:00 2001 From: roomrys Date: Thu, 18 Apr 2024 16:15:40 -0700 Subject: [PATCH 35/41] Remove unused imports --- sleap/io/cameras.py | 4 ++-- tests/gui/test_commands.py | 5 +---- 2 files changed, 3 insertions(+), 6 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index d8bac5807..97e222d60 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -3,7 +3,7 @@ import logging import tempfile from pathlib import Path -from typing import Any, Dict, Iterator, List, Optional, Tuple, Union, cast, Set +from typing import Any, Dict, Iterator, List, Optional, Set, Tuple, Union import cattr import numpy as np @@ -13,7 +13,7 @@ from attrs.validators import deep_iterable, instance_of # from sleap.io.dataset import Labels # TODO(LM): Circular import, implement Observer -from sleap.instance import LabeledFrame, Instance, PredictedInstance +from sleap.instance import Instance, LabeledFrame, PredictedInstance from sleap.io.video import Video from sleap.util import deep_iterable_converter diff --git a/tests/gui/test_commands.py b/tests/gui/test_commands.py index 78219c52c..9bf587859 100644 --- a/tests/gui/test_commands.py +++ b/tests/gui/test_commands.py @@ -2,9 +2,8 @@ import sys import time from pathlib import Path, PurePath -from typing import Dict, List +from typing import List -import numpy as np import pytest from sleap import PredictedInstance, Skeleton, Track @@ -18,11 +17,9 @@ RemoveVideo, ReplaceVideo, SaveProjectAs, - TriangulateSession, get_new_version_filename, ) from sleap.instance import Instance, LabeledFrame -from sleap.io.cameras import Camcorder from sleap.io.convert import default_analysis_filename from sleap.io.dataset import Labels from sleap.io.format.adaptor import Adaptor From b1d2372946ab84fce4431665b1b721fc17bedea3 Mon Sep 17 00:00:00 2001 From: Liezl Maree <38435167+roomrys@users.noreply.github.com> Date: Mon, 22 Apr 2024 17:12:17 -0700 Subject: [PATCH 36/41] (3a -> 3) Serialize `FrameGroup` and `InstanceGroup` (update `RecordingSession` serialization) (#1749) * [wip] Serialize FrameGroup class * [wip] Serialize InstanceGroup class * [untested] Serialize FrameGroup and InstanceGroup * Test InstanceGroup serialization and deserialization * Test FrameGroup serialization and deserialization * Move FrameGroup._cams_to_include and _excluded_views class attributes to RecordingSession instance attributes * Change InstanceGroup.camera_cluster from a class attribute to an instance attribute * Test RecordingSession serialize and deserialize * Get `Labels.from_json` working with instances_list * (De)serialize using `Labels.labeled_frames` instead of `Labels.instances()` * Fix `RecordingSession` unstructure hook bug --- sleap/io/cameras.py | 375 +++++++++++++++++++++++++++------ sleap/io/dataset.py | 11 +- sleap/io/format/labels_json.py | 33 +-- tests/io/test_cameras.py | 95 ++++++++- 4 files changed, 424 insertions(+), 90 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 97e222d60..3bfff9f30 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -399,10 +399,15 @@ def to_calibration_dict(self) -> Dict[str, str]: class InstanceGroup: """Defines a group of instances across the same frame index. - Args: - camera_cluster: `CameraCluster` object. + Attributes: + name: Name of the `InstanceGroup`. + frame_idx: Frame index for the `InstanceGroup`. + dummy_instance: Optional `PredictedInstance` object to fill in for missing + instances. + camera_cluster: `CameraCluster` object that the `InstanceGroup` uses. + cameras: List of `Camcorder` objects that have an `Instance` associated. instances: List of `Instance` objects. - + instance_by_camcorder: Dictionary of `Instance` objects by `Camcorder`. """ _name: str = field() @@ -410,9 +415,7 @@ class InstanceGroup: _instance_by_camcorder: Dict[Camcorder, Instance] = field(factory=dict) _camcorder_by_instance: Dict[Instance, Camcorder] = field(factory=dict) _dummy_instance: Optional[Instance] = field(default=None) - - # Class attributes - camera_cluster: Optional[CameraCluster] = None + camera_cluster: Optional[CameraCluster] = field(default=None) def __attrs_post_init__(self): """Initialize `InstanceGroup` object.""" @@ -841,13 +844,16 @@ def __hash__(self) -> int: return hash(self._name) @classmethod - def from_dict( - cls, d: dict, name: str, name_registry: Set[str] + def from_instance_by_camcorder_dict( + cls, + instance_by_camcorder: Dict[Camcorder, Instance], + name: str, + name_registry: Set[str], ) -> Optional["InstanceGroup"]: """Creates an `InstanceGroup` object from a dictionary. Args: - d: Dictionary with `Camcorder` keys and `Instance` values. + instance_by_camcorder: Dictionary with `Camcorder` keys and `Instance` values. name: Name to use for the `InstanceGroup`. name_registry: Set of names to check for uniqueness. @@ -859,16 +865,22 @@ def from_dict( than None) instances found. """ + if name in name_registry: + raise ValueError( + f"Cannot create `InstanceGroup`: Name {name} already in use. Please " + f"use a unique name that is not in the registry: {name_registry}." + ) + # Ensure not to mutate the original dictionary - d_copy = d.copy() + instance_by_camcorder_copy = instance_by_camcorder.copy() frame_idx = None - for cam, instance in d_copy.copy().items(): + for cam, instance in instance_by_camcorder_copy.copy().items(): camera_cluster = cam.camera_cluster # Remove dummy instances (determined by not having a frame index) if instance.frame_idx is None: - d_copy.pop(cam) + instance_by_camcorder_copy.pop(cam) # Grab the frame index from non-dummy instances elif frame_idx is None: frame_idx = instance.frame_idx @@ -879,20 +891,89 @@ def from_dict( f"not match instance frame index {instance.frame_idx}." ) - if len(d_copy) == 0: - raise ValueError("Cannot create `InstanceGroup`: No real instances found.") - - if name in name_registry: - raise ValueError( - f"Cannot create `InstanceGroup`: Name {name} already in use. Please " - f"use a unique name that is not in the registry: {name_registry}." - ) + if len(instance_by_camcorder_copy) == 0: + raise ValueError("Cannot create `InstanceGroup`: No frame idx found.") return cls( name=name, frame_idx=frame_idx, camera_cluster=camera_cluster, - instance_by_camcorder=d_copy, + instance_by_camcorder=instance_by_camcorder_copy, + ) + + def to_dict( + self, instance_to_lf_and_inst_idx: Dict[Instance, Tuple[str, str]] + ) -> Dict[str, Union[str, Dict[str, str]]]: + """Converts the `InstanceGroup` to a dictionary. + + Args: + instance_to_lf_and_inst_idx: Dictionary mapping `Instance` objects to + `LabeledFrame` indices (in `Labels.labeled_frames`) and `Instance` + indices (in containing `LabeledFrame.instances`). + + Returns: + Dictionary of the `InstanceGroup` with items: + - name: Name of the `InstanceGroup`. + - camcorder_to_lf_and_inst_idx_map: Dictionary mapping `Camcorder` indices + (in `InstanceGroup.camera_cluster.cameras`) to both `LabeledFrame` + and `Instance` indices (from `instance_to_lf_and_inst_idx`). + """ + + camcorder_to_lf_and_inst_idx_map: Dict[str, Tuple[str, str]] = { + str(self.camera_cluster.cameras.index(cam)): instance_to_lf_and_inst_idx[ + instance + ] + for cam, instance in self._instance_by_camcorder.items() + } + + return { + "name": self.name, + "camcorder_to_lf_and_inst_idx_map": camcorder_to_lf_and_inst_idx_map, + } + + @classmethod + def from_dict( + cls, + instance_group_dict: dict, + name_registry: Set[str], + labeled_frames_list: List[LabeledFrame], + camera_cluster: CameraCluster, + ): + """Creates an `InstanceGroup` object from a dictionary. + + Args: + instance_group_dict: Dictionary with keys for name and + camcorder_to_lf_and_inst_idx_map. + name_registry: Set of names to check for uniqueness. + labeled_frames_list: List of `LabeledFrame` objects (expecting + `Labels.labeled_frames`). + camera_cluster: `CameraCluster` object. + + Returns: + `InstanceGroup` object. + """ + + # Get the `Instance` objects + camcorder_to_lf_and_inst_idx_map: Dict[ + str, Tuple[str, str] + ] = instance_group_dict["camcorder_to_lf_and_inst_idx_map"] + + instance_by_camcorder: Dict[Camcorder, Instance] = {} + for cam_idx, (lf_idx, inst_idx) in camcorder_to_lf_and_inst_idx_map.items(): + # Retrieve the `Camcorder` + camera = camera_cluster.cameras[int(cam_idx)] + + # Retrieve the `Instance` from the `LabeledFrame + labeled_frame = labeled_frames_list[int(lf_idx)] + instance = labeled_frame.instances[int(inst_idx)] + + # Link the `Instance` to the `Camcorder` + instance_by_camcorder[camera] = instance + + return cls.from_instance_by_camcorder_dict( + instance_by_camcorder=instance_by_camcorder, + name=instance_group_dict["name"], + name_registry=name_registry, ) @@ -903,12 +984,17 @@ class RecordingSession: Attributes: camera_cluster: `CameraCluster` object. metadata: Dictionary of metadata. + labels: `Labels` object. videos: List of `Video`s that have been linked to a `Camcorder` in the `self.camera_cluster`. linked_cameras: List of `Camcorder`s in the `self.camera_cluster` that are linked to a `Video`. unlinked_cameras: List of `Camcorder`s in the `self.camera_cluster` that are not linked to a `Video`. + frame_groups: Dictionary of `FrameGroup`s by frame index. + frame_inds: List of frame indices. + cams_to_include: List of `Camcorder`s to include in this `FrameGroup`. + excluded_views: List of excluded views (names of `Camcorder`s). """ # TODO(LM): Consider implementing Observer pattern for `camera_cluster` and `labels` @@ -917,6 +1003,8 @@ class RecordingSession: labels: Optional["Labels"] = field(default=None) _video_by_camcorder: Dict[Camcorder, Video] = field(factory=dict) _frame_group_by_frame_idx: Dict[int, "FrameGroup"] = field(factory=dict) + _cams_to_include: Optional[List[Camcorder]] = field(default=None) + _excluded_views: Optional[Tuple[str]] = field(default=None) @property def videos(self) -> List[Video]: @@ -959,6 +1047,40 @@ def frame_inds(self) -> List[int]: return list(self.frame_groups.keys()) + @property + def cams_to_include(self) -> Optional[List[Camcorder]]: + """List of `Camcorder`s to include in this `FrameGroup`.""" + + if self._cams_to_include is None: + self._cams_to_include = self.camera_cluster.cameras + + # Filter cams to include based on videos linked to the session + cams_to_include = [ + cam for cam in self._cams_to_include if cam in self.linked_cameras + ] + + return cams_to_include + + @cams_to_include.setter + def cams_to_include(self, cams_to_include: List[Camcorder]): + """Setter for `cams_to_include` that sorts by `CameraCluster` order.""" + + # Sort the `Camcorder`s to include based on the order of `CameraCluster` cameras + self._cams_to_include = cams_to_include.sort( + key=self.camera_cluster.cameras.index + ) + + # Update the `excluded_views` attribute + excluded_cams = list(set(self.camera_cluster.cameras) - set(cams_to_include)) + excluded_cams.sort(key=self.camera_cluster.cameras.index) + self._excluded_views = (cam.name for cam in excluded_cams) + + @property + def excluded_views(self) -> Optional[Tuple[str]]: + """List of excluded views (names of Camcorders).""" + + return self._excluded_views + def get_video(self, camcorder: Camcorder) -> Optional[Video]: """Retrieve `Video` linked to `Camcorder`. @@ -1119,6 +1241,10 @@ def get_videos_from_selected_cameras( def __attrs_post_init__(self): self.camera_cluster.add_session(self) + # Reorder `cams_to_include` to match `CameraCluster` order (via setter method) + if self._cams_to_include is not None: + self.cams_to_include = self._cams_to_include + def __iter__(self) -> Iterator[List[Camcorder]]: return iter(self.camera_cluster) @@ -1212,9 +1338,18 @@ def from_calibration_dict(cls, calibration_dict: dict) -> "RecordingSession": ) return cls(camera_cluster=camera_cluster) - def to_session_dict(self, video_to_idx: Dict[Video, int]) -> dict: + def to_session_dict( + self, + video_to_idx: Dict[Video, int], + labeled_frame_to_idx: Dict[LabeledFrame, int], + ) -> dict: """Unstructure `RecordingSession` to an invertible dictionary. + Args: + video_to_idx: Dictionary of `Video` to index in `Labels.videos`. + labeled_frame_to_idx: Dictionary of `LabeledFrame` to index in + `Labels.labeled_frames`. + Returns: Dictionary of "calibration" and "camcorder_to_video_idx_map" needed to restructure a `RecordingSession`. @@ -1243,14 +1378,29 @@ def to_session_dict(self, video_to_idx: Dict[Video, int]) -> dict: "Not saving to `RecordingSession` serialization." ) + # Store frame groups by frame index + frame_group_dicts = [] + if len(labeled_frame_to_idx) > 0: # Don't save if skipping labeled frames + for frame_group in self._frame_group_by_frame_idx.values(): + # Only save `FrameGroup` if it has `InstanceGroup`s + if len(frame_group.instance_groups) > 0: + frame_group_dict = frame_group.to_dict( + labeled_frame_to_idx=labeled_frame_to_idx + ) + frame_group_dicts.append(frame_group_dict) + return { "calibration": calibration_dict, "camcorder_to_video_idx_map": camcorder_to_video_idx_map, + "frame_group_dicts": frame_group_dicts, } @classmethod def from_session_dict( - cls, session_dict, videos_list: List[Video] + cls, + session_dict: dict, + videos_list: List[Video], + labeled_frames_list: List[LabeledFrame], ) -> "RecordingSession": """Restructure `RecordingSession` from an invertible dictionary. @@ -1258,6 +1408,8 @@ def from_session_dict( session_dict: Dictionary of "calibration" and "camcorder_to_video_idx_map" needed to fully restructure a `RecordingSession`. videos_list: List containing `Video` objects (expected `Labels.videos`). + labeled_frames_list: List containing `LabeledFrame` objects (expected + `Labels.labeled_frames`). Returns: `RecordingSession` object. @@ -1276,34 +1428,89 @@ def from_session_dict( video = videos_list[int(video_idx)] session.add_video(video, camcorder) + # Reconstruct all `FrameGroup` objects and add to `RecordingSession` + frame_group_dicts = session_dict.get("frame_group_dicts", []) + for frame_group_dict in frame_group_dicts: + + try: + # Add `FrameGroup` to `RecordingSession` + FrameGroup.from_dict( + frame_group_dict=frame_group_dict, + session=session, + labeled_frames_list=labeled_frames_list, + ) + except ValueError as e: + logger.warning( + f"Error reconstructing FrameGroup: {frame_group_dict}. Skipping..." + f"\n{e}" + ) + return session @staticmethod - def make_cattr(videos_list: List[Video]): + def make_cattr( + videos_list: List[Video], + labeled_frames_list: Optional[List[LabeledFrame]] = None, + labeled_frame_to_idx: Optional[Dict[LabeledFrame, int]] = None, + ): """Make a `cattr.Converter` for `RecordingSession` serialization. + Note: `labeled_frames_list` is needed to structure and `labeled_frame_to_idx` is + needed to unstructure. + Args: videos_list: List containing `Video` objects (expected `Labels.videos`). + labeled_frames_list: List containing `LabeledFrame` objects (expected + `Labels.labeled_frames`). Default is None. Needed for structuring. + labeled_frame_to_idx: Dictionary of `LabeledFrame` to index in + `Labels.labeled_frames`. Default is None. Needed for unstructuring. Returns: `cattr.Converter` object. """ + + if labeled_frames_list is None and labeled_frame_to_idx is None: + raise ValueError( + "labeled_frames_list and labeled_frame_to_idx cannot both be None." + ) + sessions_cattr = cattr.Converter() - sessions_cattr.register_structure_hook( - RecordingSession, - lambda x, cls: RecordingSession.from_session_dict(x, videos_list), - ) - video_to_idx = {video: i for i, video in enumerate(videos_list)} - sessions_cattr.register_unstructure_hook( - RecordingSession, lambda x: x.to_session_dict(video_to_idx) - ) + # Create the structure hook for `RecordingSession` + if labeled_frames_list is not None: + sessions_cattr.register_structure_hook( + RecordingSession, + lambda x, cls: RecordingSession.from_session_dict( + session_dict=x, + videos_list=videos_list, + labeled_frames_list=labeled_frames_list, + ), + ) + + # Create the unstructure hook for `RecordingSession` + if labeled_frame_to_idx is not None: + video_to_idx = {video: i for i, video in enumerate(videos_list)} + sessions_cattr.register_unstructure_hook( + RecordingSession, + lambda x: x.to_session_dict( + video_to_idx=video_to_idx, labeled_frame_to_idx=labeled_frame_to_idx + ), + ) + return sessions_cattr @define class FrameGroup: - """Defines a group of `InstanceGroups` across views at the same frame index.""" + """Defines a group of `InstanceGroups` across views at the same frame index. + + Attributes: + frame_idx: Frame index for the `FrameGroup`. + session: `RecordingSession` object that the `FrameGroup` is in. + instance_groups: List of `InstanceGroup`s in the `FrameGroup`. + labeled_frames: List of `LabeledFrame`s in the `FrameGroup`. + cameras: List of `Camcorder`s that have `LabeledFrame`s. + """ # Instance attributes frame_idx: int = field(validator=instance_of(int)) @@ -1317,10 +1524,6 @@ class FrameGroup: ) # Akin to `LabeledFrame.instances` _instance_group_name_registry: Set[str] = field(factory=set) - # "Hidden" class attribute - _cams_to_include: Optional[List[Camcorder]] = None - _excluded_views: Optional[Tuple[str]] = () - # "Hidden" instance attributes # TODO(LM): This dict should be updated each time a LabeledFrame is added/removed @@ -1346,10 +1549,6 @@ def __attrs_post_init__(self): # Remove existing `FrameGroup` object from the `RecordingSession._frame_group_by_frame_idx` self.enforce_frame_idx_unique(self.session, self.frame_idx) - # Reorder `cams_to_include` to match `CameraCluster` order (via setter method) - if self._cams_to_include is not None: - self.cams_to_include = self._cams_to_include - # Add `FrameGroup` to `RecordingSession` self.session._frame_group_by_frame_idx[self.frame_idx] = self @@ -1383,38 +1582,22 @@ def instance_groups(self, instance_groups: List[InstanceGroup]): def cams_to_include(self) -> Optional[List[Camcorder]]: """List of `Camcorder`s to include in this `FrameGroup`.""" - if self._cams_to_include is None: - self._cams_to_include = self.session.camera_cluster.cameras.copy() - - # TODO(LM): Should we store this in another attribute? - # Filter cams to include based on videos linked to the session - cams_to_include = [ - cam for cam in self._cams_to_include if cam in self.session.linked_cameras - ] - - return cams_to_include + return self.session.cams_to_include @property def excluded_views(self) -> Optional[Tuple[str]]: """List of excluded views (names of Camcorders).""" - return self._excluded_views + return self.session.excluded_views @cams_to_include.setter def cams_to_include(self, cams_to_include: List[Camcorder]): """Setter for `cams_to_include` that sorts by `CameraCluster` order.""" - # Sort the `Camcorder`s to include based on the order of `CameraCluster` cameras - self._cams_to_include = cams_to_include.sort( - key=self.session.camera_cluster.cameras.index - ) - - # Update the `excluded_views` attribute - excluded_cams = list( - set(self.session.camera_cluster.cameras) - set(cams_to_include) + raise ValueError( + "Cannot set `cams_to_include` directly. Please set `RecordingSession` " + "attribute to update `FrameGroup`." ) - excluded_cams.sort(key=self.session.camera_cluster.cameras.index) - self._excluded_views = (cam.name for cam in excluded_cams) @property def labeled_frames(self) -> List[LabeledFrame]: @@ -1990,7 +2173,73 @@ def from_instance_groups( # Create and return `FrameGroup` object return cls( - frame_idx=frame_idx, instance_groups=instance_groups, session=session + frame_idx=frame_idx, session=session, instance_groups=instance_groups + ) + + def to_dict( + self, + labeled_frame_to_idx: Dict[LabeledFrame, int], + ) -> Dict[str, Union[int, List[Dict[str, Any]]]]: + """Convert `FrameGroup` to a dictionary. + + Args: + labeled_frame_to_idx: Dictionary of `LabeledFrame` to index in + `Labels.labeled_frames`. + """ + + # Create dictionary of `Instance` to `LabeledFrame` index (in + # `Labels.labeled_frames`) and `Instance` index in `LabeledFrame.instances``. + instance_to_lf_and_inst_idx: Dict[Instance, Tuple[str, str]] = { + inst: (str(labeled_frame_to_idx[labeled_frame]), str(inst_idx)) + for labeled_frame in self.labeled_frames + for inst_idx, inst in enumerate(labeled_frame.instances) + } + + frame_group_dict = { + "instance_groups": [ + instance_group.to_dict( + instance_to_lf_and_inst_idx=instance_to_lf_and_inst_idx, + ) + for instance_group in self.instance_groups + ], + } + + return frame_group_dict + + @classmethod + def from_dict( + cls, + frame_group_dict: Dict[str, Any], + session: RecordingSession, + labeled_frames_list: List[LabeledFrame], + ): + """Convert dictionary to `FrameGroup` object. + + Args: + frame_group_dict: Dictionary of `FrameGroup` object. + session: `RecordingSession` object. + labeled_frames_list: List of `LabeledFrame` objects (expecting + `Labels.labeled_frames`). + + Returns: + `FrameGroup` object. + """ + + # Get `InstanceGroup` objects + name_registry = set() + instance_groups = [] + for instance_group_dict in frame_group_dict["instance_groups"]: + instance_group = InstanceGroup.from_dict( + instance_group_dict=instance_group_dict, + name_registry=name_registry, + labeled_frames_list=labeled_frames_list, + camera_cluster=session.camera_cluster, + ) + name_registry.add(instance_group.name) + instance_groups.append(instance_group) + + return cls.from_instance_groups( + session=session, instance_groups=instance_groups ) def enforce_frame_idx_unique( diff --git a/sleap/io/dataset.py b/sleap/io/dataset.py index 185b235a8..dc3c14921 100644 --- a/sleap/io/dataset.py +++ b/sleap/io/dataset.py @@ -2042,9 +2042,10 @@ def to_dict(self, skip_labels: bool = False) -> Dict[str, Any]: instances. * nodes - The nodes that the skeletons represent. * videos - The videos that that the instances occur on. - * labels - The labeled frames + * labels - The labeled frames if `skip_labels` is False. * tracks - The tracks associated with each instance. * suggestions - The suggested frames. + * sessions - The recording sessions. * negative_anchors - The negative training sample anchors. """ # FIXME: Update list of nodes @@ -2083,8 +2084,12 @@ def to_dict(self, skip_labels: bool = False) -> Dict[str, Any]: # this can save a lot of space when there are lots of tracks. track_cattr = cattr.Converter(unstruct_strat=cattr.UnstructureStrategy.AS_TUPLE) - # Make converter for recording sessions - sessions_cattr = RecordingSession.make_cattr(videos_list=self.videos) + # Make serializer for recording sessions + labeled_frames_list = [] if skip_labels else self.labeled_frames + labeled_frame_to_idx = {lf: i for i, lf in enumerate(labeled_frames_list)} + sessions_cattr = RecordingSession.make_cattr( + videos_list=self.videos, labeled_frame_to_idx=labeled_frame_to_idx + ) # Serialize the skeletons, videos, and labels dicts = { diff --git a/sleap/io/format/labels_json.py b/sleap/io/format/labels_json.py index 765b7d7cd..160f11c96 100644 --- a/sleap/io/format/labels_json.py +++ b/sleap/io/format/labels_json.py @@ -389,7 +389,7 @@ def from_json_data( dicts["tracks"] = dicts.get( "tracks", [] - ) # don't break if json doesn't include tracks + ) # Don't break if json doesn't include tracks # First, deserialize the skeletons, videos, and nodes lists. # The labels reference these so we will need them while deserializing. @@ -414,7 +414,7 @@ def from_json_data( except: raise ValueError("Unable to load tracks as tuple or dict!") - # if we're given a Labels object to match, use its objects when they match + # If we're given a Labels object to match, use its objects when they match if match_to is not None: if len(skeletons) > 1 or len(match_to.skeletons) > 1: # Match full skeletons @@ -503,16 +503,6 @@ def from_json_data( print(e) pass - try: - sessions_cattr = RecordingSession.make_cattr(videos_list=videos) - sessions = sessions_cattr.structure( - dicts["sessions"], List[RecordingSession] - ) - except Exception as e: - logger.warning("Error while loading `RecordingSession`s:") - logger.warning(e) - sessions = [] - if "negative_anchors" in dicts: negative_anchors_cattr = cattr.Converter() negative_anchors_cattr.register_structure_hook( @@ -542,14 +532,27 @@ def from_json_data( label_cattr.register_structure_hook( Track, lambda x, type: None if x is None else tracks[int(x)] ) - label_cattr.register_structure_hook( - RecordingSession, lambda x, type: sessions[int(x)] - ) labels = label_cattr.structure(dicts["labels"], List[LabeledFrame]) else: labels = [] + if "sessions" in dicts: + try: + # Make deserializer for `RecordingSession` + sessions_cattr = RecordingSession.make_cattr( + videos_list=videos, labeled_frames_list=labels + ) + sessions = sessions_cattr.structure( + dicts["sessions"], List[RecordingSession] + ) + except Exception as e: + logger.warning("Error while loading `RecordingSession`s:") + logger.warning(e) + sessions = [] + else: + sessions = [] + return Labels( labeled_frames=labels, videos=videos, diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 16fbfd0a7..c03fa9e01 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -135,6 +135,7 @@ def test_recording_session( min_session_camera_cluster: CameraCluster, centered_pair_vid: Video, hdf5_vid: Video, + multiview_min_session_labels: Labels, ): """Test `RecordingSession` data structure.""" @@ -212,11 +213,15 @@ def compare_cameras(session_1: RecordingSession, session_2: RecordingSession): compare_cameras(session, session_2) # Test to_session_dict + labels = multiview_min_session_labels camcorder_2 = session.camera_cluster.cameras[2] session.add_video(hdf5_vid, camcorder_2) videos_list = [centered_pair_vid, hdf5_vid] video_to_idx = {video: idx for idx, video in enumerate(videos_list)} - session_dict = session.to_session_dict(video_to_idx) + labeled_frame_to_idx = {lf: idx for idx, lf in enumerate(labels.labeled_frames)} + session_dict = session.to_session_dict( + video_to_idx=video_to_idx, labeled_frame_to_idx=labeled_frame_to_idx + ) assert isinstance(session_dict, dict) assert session_dict["calibration"] == calibration_dict assert session_dict["camcorder_to_video_idx_map"] == { @@ -233,7 +238,12 @@ def compare_sessions(session_1: RecordingSession, session_2: RecordingSession): assert len(session_2.videos) == len(session_1.videos) assert np.array_equal(session_2.videos, session_1.videos) - session_2 = RecordingSession.from_session_dict(session_dict, videos_list) + labeled_frames_list = labels.labeled_frames + session_2 = RecordingSession.from_session_dict( + session_dict=session_dict, + videos_list=videos_list, + labeled_frames_list=labeled_frames_list, + ) compare_sessions(session, session_2) # Test remove_video @@ -254,7 +264,12 @@ def compare_sessions(session_1: RecordingSession, session_2: RecordingSession): assert session[camcorder] is None # Test make_cattr - sessions_cattr = RecordingSession.make_cattr(videos_list) + labeled_frame_to_idx = {lf: idx for idx, lf in enumerate(labels.labeled_frames)} + sessions_cattr = RecordingSession.make_cattr( + videos_list=videos_list, + labeled_frames_list=labels.labeled_frames, + labeled_frame_to_idx=labeled_frame_to_idx, + ) session_dict_2 = sessions_cattr.unstructure(session_2) assert session_dict_2 == session_dict session_3 = sessions_cattr.structure(session_dict_2, RecordingSession) @@ -338,8 +353,10 @@ def create_instance_group( ) instance_by_camera[cam] = dummy_instance - instance_group = InstanceGroup.from_dict( - d=instance_by_camera, name="test_instance_group", name_registry={} + instance_group = InstanceGroup.from_instance_by_camcorder_dict( + instance_by_camcorder=instance_by_camera, + name="test_instance_group", + name_registry={}, ) return ( (instance_group, instance_by_camera, dummy_instance, cam) @@ -358,7 +375,7 @@ def test_instance_group(multiview_min_session_labels: Labels): lf = labels.labeled_frames[0] frame_idx = lf.frame_idx - # Test `from_dict` + # Test `from_instance_by_camcorder_dict` instance_group, instance_by_camera, dummy_instance, cam = create_instance_group( labels=labels, frame_idx=frame_idx, add_dummy=True ) @@ -375,6 +392,39 @@ def test_instance_group(multiview_min_session_labels: Labels): assert instance_group[camera] == instance_by_camera[camera] assert instance_group[instance] == camera + # Test `to_dict` + labeled_frame_to_idx = {lf: idx for idx, lf in enumerate(labels.labeled_frames)} + instance_to_lf_and_inst_idx = { + instance: (labeled_frame_to_idx[lf], inst_idx) + for lf in labels.labeled_frames + for inst_idx, instance in enumerate(lf.instances) + } + instance_group_dict = instance_group.to_dict( + instance_to_lf_and_inst_idx=instance_to_lf_and_inst_idx + ) + assert isinstance(instance_group_dict, dict) + assert instance_group_dict["name"] == instance_group.name + assert "camcorder_to_lf_and_inst_idx_map" in instance_group_dict + + # Test `from_dict` + instance_group_2 = InstanceGroup.from_dict( + instance_group_dict=instance_group_dict, + name_registry={}, + labeled_frames_list=labels.labeled_frames, + camera_cluster=camera_cluster, + ) + assert isinstance(instance_group_2, InstanceGroup) + assert instance_group_2.camera_cluster == camera_cluster + assert instance_group_2.name == instance_group.name + assert instance_group_2.frame_idx == instance_group.frame_idx + assert ( + instance_group_2._instance_by_camcorder == instance_group._instance_by_camcorder + ) + assert ( + instance_group_2._camcorder_by_instance == instance_group._camcorder_by_instance + ) + assert instance_group_2.dummy_instance.matches(instance_group.dummy_instance) + # Test `__repr__` print(instance_group) @@ -418,11 +468,13 @@ def test_instance_group(multiview_min_session_labels: Labels): np.nan_to_num(instance_group_numpy, nan=0) assert np.all(np.nan_to_num(instance_group_numpy, nan=0) == 0) - # Populate with only dummy instance and test `from_dict` + # Populate with only dummy instance and test `from_instance_by_camcorder_dict` instance_by_camera = {cam: dummy_instance} with pytest.raises(ValueError): - instance_group = InstanceGroup.from_dict( - d=instance_by_camera, name="test_instance_group", name_registry={} + instance_group = InstanceGroup.from_instance_by_camcorder_dict( + instance_by_camcorder=instance_by_camera, + name="test_instance_group", + name_registry={}, ) @@ -466,4 +518,29 @@ def test_frame_group(multiview_min_session_labels: Labels): assert frame_group_3 == session.frame_groups[frame_idx_3] assert len(frame_group_3.instance_groups) == 0 + # Test `to_dict` + labeled_frame_to_idx = {lf: idx for idx, lf in enumerate(labels.labeled_frames)} + frame_group_dict = frame_group_1.to_dict(labeled_frame_to_idx=labeled_frame_to_idx) + assert isinstance(frame_group_dict, dict) + assert "instance_groups" in frame_group_dict + assert len(frame_group_dict["instance_groups"]) == 1 + instance_group_dict = frame_group_dict["instance_groups"][0] + assert instance_group_dict["name"] == instance_group.name + assert "camcorder_to_lf_and_inst_idx_map" in instance_group_dict + + # Test `from_dict` + frame_group_4 = FrameGroup.from_dict( + frame_group_dict=frame_group_dict, + session=session, + labeled_frames_list=labels.labeled_frames, + ) + assert isinstance(frame_group_4, FrameGroup) + assert frame_group_4.frame_idx == frame_idx_1 + assert frame_group_4.session == session + assert len(frame_group_4.instance_groups) == 1 + assert ( + frame_group_4._instance_group_name_registry + == frame_group_1._instance_group_name_registry + ) + # TODO(LM): Test underlying dictionaries more thoroughly From 0d26728978939b9e9d5fdcc514b9be0aa5772d76 Mon Sep 17 00:00:00 2001 From: Liezl Maree <38435167+roomrys@users.noreply.github.com> Date: Tue, 23 Apr 2024 16:01:42 -0700 Subject: [PATCH 37/41] (3a -> 3) Add `FrameGroup` fixture (#1753) * Return InstanceGroup when FrameGroup.add_instance_group * Restructure RecordingSession after LabeledFrames * Always use Labels.labeled_frames even if skip_labels * Add test while creating new fixture * Add min_session_frame_groups fixture --- sleap/io/cameras.py | 24 ++-- sleap/io/dataset.py | 5 +- sleap/io/format/hdf5.py | 56 ++++++--- sleap/io/format/labels_json.py | 25 +--- .../min_session_frame_groups.slp | Bin 0 -> 61536 bytes tests/fixtures/datasets.py | 8 ++ tests/io/test_cameras.py | 109 ++++++++++++++++++ 7 files changed, 180 insertions(+), 47 deletions(-) create mode 100644 tests/data/cameras/minimal_session/min_session_frame_groups.slp diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 3bfff9f30..42bacb8a9 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -424,10 +424,6 @@ def __attrs_post_init__(self): for cam, instance in self._instance_by_camcorder.items(): self._camcorder_by_instance[instance] = cam - # Create a dummy instance to fill in for missing instances - if self._dummy_instance is None: - self._create_dummy_instance(instance=instance) - def _create_dummy_instance(self, instance: Optional[Instance] = None): """Create a dummy instance to fill in for missing instances. @@ -838,7 +834,10 @@ def __len__(self): return len(self.instances) def __repr__(self): - return f"{self.__class__.__name__}(frame_idx={self.frame_idx}, instances={len(self)}, camera_cluster={self.camera_cluster})" + return ( + f"{self.__class__.__name__}(name={self.name}, frame_idx={self.frame_idx}, " + f"instances:{len(self)}, camera_cluster={self.camera_cluster})" + ) def __hash__(self) -> int: return hash(self._name) @@ -1297,7 +1296,7 @@ def __getitem__( def __repr__(self): return ( f"{self.__class__.__name__}(videos:{len(self.videos)}," - f"camera_cluster={self.camera_cluster})" + f"camera_cluster={self.camera_cluster},frame_groups:{len(self.frame_groups)})" ) @classmethod @@ -1738,7 +1737,9 @@ def remove_instance(self, instance: Instance): if len(self._instances_by_cam[camera]) < 1: self.remove_labeled_frame(labeled_frame_or_camera=camera) - def add_instance_group(self, instance_group: Optional[InstanceGroup] = None): + def add_instance_group( + self, instance_group: Optional[InstanceGroup] = None + ) -> InstanceGroup: """Add an `InstanceGroup` to the `FrameGroup`. This method updates the underlying dictionaries in calling add_instance: @@ -1783,6 +1784,8 @@ def add_instance_group(self, instance_group: Optional[InstanceGroup] = None): for camera, instance in instance_group.instance_by_camcorder.items(): self.add_instance(instance=instance, camera=camera) + return instance_group + def remove_instance_group(self, instance_group: InstanceGroup): """Remove an `InstanceGroup` from the `FrameGroup`.""" @@ -2148,6 +2151,13 @@ def _raise_if_instance_group_not_in_frame_group( f"{self.instance_groups}." ) + def __repr__(self): + return ( + f"{self.__class__.__name__}(frame_idx={self.frame_idx}, instance_groups:" + f"{len(self.instance_groups)}, labeled_frames:{len(self.labeled_frames)}, " + f"cameras:{len(self.cameras)}, session={self.session})" + ) + @classmethod def from_instance_groups( cls, diff --git a/sleap/io/dataset.py b/sleap/io/dataset.py index dc3c14921..f71d4fa73 100644 --- a/sleap/io/dataset.py +++ b/sleap/io/dataset.py @@ -2085,8 +2085,7 @@ def to_dict(self, skip_labels: bool = False) -> Dict[str, Any]: track_cattr = cattr.Converter(unstruct_strat=cattr.UnstructureStrategy.AS_TUPLE) # Make serializer for recording sessions - labeled_frames_list = [] if skip_labels else self.labeled_frames - labeled_frame_to_idx = {lf: i for i, lf in enumerate(labeled_frames_list)} + labeled_frame_to_idx = {lf: i for i, lf in enumerate(self.labeled_frames)} sessions_cattr = RecordingSession.make_cattr( videos_list=self.videos, labeled_frame_to_idx=labeled_frame_to_idx ) @@ -2125,7 +2124,7 @@ def load_file( video_search: Union[Callable, List[Text], None] = None, *args, **kwargs, - ): + ) -> "Labels": """Load file, detecting format from filename.""" from .format import read diff --git a/sleap/io/format/hdf5.py b/sleap/io/format/hdf5.py index c2014a221..58ce819f4 100644 --- a/sleap/io/format/hdf5.py +++ b/sleap/io/format/hdf5.py @@ -5,26 +5,30 @@ format. """ -from sleap.io import format -from . import labels_json +import logging +import os +from typing import Callable, List, Optional, Text, Union +import h5py +import numpy as np + +from sleap import Labels, Video from sleap.instance import ( - PointArray, - PredictedPointArray, Instance, - PredictedInstance, LabeledFrame, - PredictedPoint, Point, + PointArray, + PredictedInstance, + PredictedPoint, + PredictedPointArray, ) -from sleap.util import json_loads, json_dumps -from sleap import Labels, Video +from sleap.io import format +from sleap.io.cameras import RecordingSession +from sleap.util import json_dumps, json_loads -import h5py -import numpy as np -import os +from . import labels_json -from typing import Optional, Callable, List, Text, Union +logger = logging.getLogger(__name__) class LabelsV1Adaptor(format.adaptor.Adaptor): @@ -85,7 +89,7 @@ def read_headers( # These items are stored in separate lists because the metadata group got to be # too big. - for key in ("videos", "tracks", "suggestions", "sessions"): + for key in ("videos", "tracks", "suggestions"): hdf5_key = f"{key}_json" if hdf5_key in f: items = [json_loads(item_json) for item_json in f[hdf5_key]] @@ -214,6 +218,32 @@ def read( labels.labeled_frames = frames + # RecordingSessions (namely `FrameGroup`s and `InstanceGroup`s) require the + # labeled frames to be reconstructed before they can be deserialized. + key = "sessions" + hdf5_key = f"{key}_json" + sessions_dict = {} + if hdf5_key in f: + items = [json_loads(item_json) for item_json in f[hdf5_key]] + sessions_dict = items + try: + # Make deserializer for `RecordingSession` + sessions_cattr = RecordingSession.make_cattr( + videos_list=labels.videos, labeled_frames_list=labels.labeled_frames + ) + sessions = sessions_cattr.structure( + sessions_dict, List[RecordingSession] + ) + except Exception as e: + logger.warning("Error while loading `RecordingSession`s:") + logger.warning(e) + sessions = [] + else: + sessions = [] + + for session in sessions: + labels.add_session(session) + # Do the stuff that should happen after we have labeled frames labels.update_cache() diff --git a/sleap/io/format/labels_json.py b/sleap/io/format/labels_json.py index 160f11c96..92badcb85 100644 --- a/sleap/io/format/labels_json.py +++ b/sleap/io/format/labels_json.py @@ -7,7 +7,6 @@ also the videos/frames as HDF5 datasets. """ import atexit -import logging import os import re import shutil @@ -17,8 +16,6 @@ import cattr -from sleap.io.cameras import RecordingSession - from .adaptor import Adaptor, SleapObjectType from .filehandle import FileHandle @@ -33,8 +30,6 @@ from sleap.skeleton import Node, Skeleton from sleap.util import json_loads, json_dumps, weak_filename_match -logger = logging.getLogger(__name__) - class LabelsJsonAdaptor(Adaptor): FORMAT_ID = 1 @@ -365,8 +360,7 @@ def write( def from_json_data( cls, data: Union[str, dict], match_to: Optional["Labels"] = None ) -> "Labels": - """ - Create instance of class from data in dictionary. + """Create instance of class from data in dictionary. Method is used by other methods that load from JSON. @@ -537,29 +531,12 @@ def from_json_data( else: labels = [] - if "sessions" in dicts: - try: - # Make deserializer for `RecordingSession` - sessions_cattr = RecordingSession.make_cattr( - videos_list=videos, labeled_frames_list=labels - ) - sessions = sessions_cattr.structure( - dicts["sessions"], List[RecordingSession] - ) - except Exception as e: - logger.warning("Error while loading `RecordingSession`s:") - logger.warning(e) - sessions = [] - else: - sessions = [] - return Labels( labeled_frames=labels, videos=videos, skeletons=skeletons, nodes=nodes, suggestions=suggestions, - sessions=sessions, negative_anchors=negative_anchors, tracks=tracks, provenance=provenance, diff --git a/tests/data/cameras/minimal_session/min_session_frame_groups.slp b/tests/data/cameras/minimal_session/min_session_frame_groups.slp new file mode 100644 index 0000000000000000000000000000000000000000..3d887ddcaf86544872b9edd2c1849f577bbfb89a GIT binary 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zRwmge=h~_G1DsffFSaePXX$k@KTtge=h)!TZGHUphv}5`9s8jChzS@TSe8&(6mP z+t4vWmgtM-W5nY-I!4G6ed3{$c>E>oMoC2&VB5#}~r>v|03Z;$y_kI2|KoiN0=pjJTPlV}vZx*OQO=f8YznF8}}l literal 0 HcmV?d00001 diff --git a/tests/fixtures/datasets.py b/tests/fixtures/datasets.py index 529087088..2fe592708 100644 --- a/tests/fixtures/datasets.py +++ b/tests/fixtures/datasets.py @@ -286,3 +286,11 @@ def multiview_min_session_user_labels(): "tests/data/cameras/minimal_session/min_session_user_labeled.slp", video_search=["tests/data/videos/"], ) + + +@pytest.fixture +def multiview_min_session_frame_groups(): + return Labels.load_file( + "tests/data/cameras/minimal_session/min_session_frame_groups.slp", + video_search=["tests/data/videos/"], + ) diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index c03fa9e01..6de4dc9d5 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -310,6 +310,89 @@ def test_recording_session_remove_video(multiview_min_session_labels: Labels): assert video not in session.videos +def test_recording_session_frame_group_integration( + multiview_min_session_user_labels: Labels, + tmp_path, +): + """Test `RecordingSession` integration with `FrameGroup` and `InstanceGroup`. + + Note: This is how the multiview_min_session_frame_groups fixture was created. + """ + + labels = multiview_min_session_user_labels + session = labels.sessions[0] + + # Get all tracks + tracks = labels.tracks + frame_idxs = [0, 1, 2] + + # Create a new `FrameGroup` for each frame_idx + for frame_idx in frame_idxs: + + frame_group = session.new_frame_group(frame_idx=frame_idx) + + # Create new instance group per track + inst_group_by_track = {} + for track in tracks: + instance_group = frame_group.add_instance_group() + inst_group_by_track[track] = instance_group + + # Add instances to frame and instance groups + for camera in session.linked_cameras: + + # Get video and labeled frame + video = session.get_video(camcorder=camera) + labeled_frames = labels.find(video=video, frame_idx=frame_idx) + if len(labeled_frames) < 1: + continue + else: + labeled_frame = labeled_frames[0] + + # Add instances to frame and instance groups + for instance in labeled_frame.user_instances: + track = instance.track + instance_group: InstanceGroup = inst_group_by_track[track] + frame_group.add_instance( + instance=instance, camera=camera, instance_group=instance_group + ) + + assert len(session.frame_groups) == len(frame_idxs) + for frame_idx in frame_idxs: + assert frame_idx in session.frame_groups + assert len(session.frame_groups[frame_idx].instance_groups) == len(tracks) + for instance_group in session.frame_groups[frame_idx].instance_groups: + assert ( + len(instance_group.instances) == 6 or len(instance_group.instances) == 8 + ) + + # Save the labels to a temporary file + ds_base = tmp_path + ds_base.mkdir(exist_ok=True) + ds_new = ds_base / "frame_groups.slp" + labels.save(filename=ds_new.as_posix()) + + # Load the labels from the temporary file + labels_new = Labels.load_file(ds_new.as_posix()) + session_ln = labels_new.sessions[0] + + # Check that the loaded labels are the same as the original labels + assert len(session_ln.frame_groups) == len(session.frame_groups) + for frame_idx in frame_idxs: + assert frame_idx in session_ln.frame_groups + assert len(session_ln.frame_groups[frame_idx].instance_groups) == len( + session.frame_groups[frame_idx].instance_groups + ) + for instance_group_ln, instance_group in zip( + session_ln.frame_groups[frame_idx].instance_groups, + session.frame_groups[frame_idx].instance_groups, + ): + assert len(instance_group.instances) == len(instance_group.instances) + for instance_ln, instance in zip( + instance_group_ln.instances, instance_group.instances + ): + assert instance_ln.matches(instance) + + # TODO(LM): Remove after adding method to (de)seralize `InstanceGroup` def create_instance_group( labels: Labels, @@ -477,6 +560,9 @@ def test_instance_group(multiview_min_session_labels: Labels): name_registry={}, ) + # Test __repr__ + print(instance_group) + def test_frame_group(multiview_min_session_labels: Labels): """Test `FrameGroup` data structure.""" @@ -544,3 +630,26 @@ def test_frame_group(multiview_min_session_labels: Labels): ) # TODO(LM): Test underlying dictionaries more thoroughly + + # Test `add_instance_group` + instance_group: InstanceGroup = frame_group_4.add_instance_group() + assert isinstance(instance_group, InstanceGroup) + assert instance_group.frame_idx == frame_idx_1 + assert instance_group.name == "instance_group_1" + assert len(frame_group_4.instance_groups) == 2 + assert len(instance_group.instances) == 0 + + # Test `add_instance` + video = session.videos[0] + camera = session.get_camera(video=video) + labeled_frame = labels.find(video=video, frame_idx=frame_group_4.frame_idx)[0] + instance = labeled_frame.instances[0] + frame_group_4.add_instance( + instance=instance, + camera=camera, + instance_group=instance_group, + ) + assert len(instance_group.instances) == 1 + + # Test `__repr__` + print(frame_group_4) From 8d3e232352d0665db2fd5eb65e3d55d83dbc139a Mon Sep 17 00:00:00 2001 From: Liezl Maree <38435167+roomrys@users.noreply.github.com> Date: Wed, 24 Apr 2024 17:11:10 -0700 Subject: [PATCH 38/41] (3a -> 3) Debug `TriangulateSession` command (#1755) * Add (failing) test for TrangulateSession.has_enough_instances * Add (failing) test for TriangulateSession.do_action * Directly pass in session to triangulateSession for now * Add (failing) tests for relevant FrameGroup and InstanceGroup methods * Fix failing InstanceGroup and FrameGroup tests * Return from TriangulateSession.do_action if no session or frame_group --- sleap/gui/app.py | 5 +- sleap/gui/commands.py | 38 +++++----- sleap/io/cameras.py | 22 +++--- tests/gui/test_commands.py | 152 +++++++++++++++++++++++++++++++++++++ tests/io/test_cameras.py | 67 +++++++++++++++- 5 files changed, 252 insertions(+), 32 deletions(-) diff --git a/sleap/gui/app.py b/sleap/gui/app.py index a1be63f92..f53506fae 100644 --- a/sleap/gui/app.py +++ b/sleap/gui/app.py @@ -1239,8 +1239,9 @@ def _after_plot_update(self, frame_idx): overlay.redraw(video, frame_idx) # Replot connected views for multi-camera projects - cams_to_include = None # TODO: make this configurable via GUI - self.commands.triangulateSession(cams_to_include=cams_to_include) + # TODO(LM): Use context.state["session"] in command instead (when implemented) + session = self.labels.get_session(video) + self.commands.triangulateSession(session=session) def _after_plot_change(self, player, frame_idx, selected_inst): """Called each time a new frame is drawn.""" diff --git a/sleap/gui/commands.py b/sleap/gui/commands.py index ed9c377d2..4e3f3de5e 100644 --- a/sleap/gui/commands.py +++ b/sleap/gui/commands.py @@ -616,20 +616,16 @@ def generateSuggestions(self, params: Dict): def triangulateSession( self, + session: Optional[RecordingSession] = None, frame_idx: Optional[int] = None, - video: Optional[Video] = None, instance: Optional[Instance] = None, - session: Optional[RecordingSession] = None, - cams_to_include: Optional[List[Camcorder]] = None, ): """Triangulates `Instance`s for selected views in a `RecordingSession`.""" self.execute( TriangulateSession, + session=session, frame_idx=frame_idx, - video=video, instance=instance, - session=session, - cams_to_include=cams_to_include, ) def openWebsite(self, url): @@ -3397,7 +3393,6 @@ def do_action(cls, context: CommandContext, params: dict): Args: context: The command context. params: The command parameters. - video: The `Video` object to use. Default is current video. session: The `RecordingSession` object to use. Default is current video's session. frame_idx: The frame index to use. Default is current frame index. @@ -3406,13 +3401,19 @@ def do_action(cls, context: CommandContext, params: dict): ask_again: If True, then ask for views/instances again. Default is False. """ - # Get `FrameGroup` for the current frame index - video = params.get("video", None) or context.state["video"] - session = params.get("session", None) or context.labels.get_session(video) - frame_idx: int = params["frame_idx"] - frame_group: FrameGroup = ( - params.get("frame_group", None) or session.frame_groups[frame_idx] + session: RecordingSession = ( + params.get("session", None) or context.state["session"] ) + if session is None: + return + + # Get `FrameGroup` for the current frame index + frame_idx: int = params.get("frame_idx", None) + if frame_idx is None: + frame_idx = context.state["frame_idx"] + frame_group: FrameGroup = session.frame_groups.get(frame_idx, None) + if frame_group is None: + return # Get the `InstanceGroup` from `Instance` if any instance = params.get("instance", None) or context.state["instance"] @@ -3469,7 +3470,7 @@ def do_action(cls, context: CommandContext, params: dict): def has_enough_instances( cls, frame_group: FrameGroup, - instance_groups: Optional[List[InstanceGroup]], + instance_groups: Optional[List[InstanceGroup]] = None, frame_idx: Optional[int] = None, instance: Optional[Instance] = None, ) -> Optional[List[InstanceGroup]]: @@ -3477,9 +3478,9 @@ def has_enough_instances( Args: frame_group: The `FrameGroup` object to use. - instance_groups: A list of `InstanceGroup` objects to use. - frame_idx: The frame index to use. - instance: The `Instance` object to use (only used in logging). + instance_groups: A list of `InstanceGroup` objects to use. Default is None. + frame_idx: The frame index to use (only used in logging). Default is None. + instance: The `Instance` object to use (only used in logging). Default None. Returns: A list of `InstanceGroup` objects with enough instances for triangulation. @@ -3491,6 +3492,9 @@ def has_enough_instances( if frame_idx is None: frame_idx = "" # Just used for logging + if instance_groups is None: + instance_groups = frame_group.instance_groups + if len(instance_groups) < 1: logger.warning( f"Require at least 1 instance group, but found " diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 42bacb8a9..53980e4ac 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -736,8 +736,9 @@ def get_instances(self, cams: List[Camcorder]) -> List[Instance]: instances = [] for cam in cams: instance = self.get_instance(cam) - instances.append(instance) - return instance + if instance is not None: + instances.append(instance) + return instances def get_cam(self, instance: Instance) -> Optional[Camcorder]: """Retrieve `Camcorder` linked to `Instance`. @@ -1065,14 +1066,14 @@ def cams_to_include(self, cams_to_include: List[Camcorder]): """Setter for `cams_to_include` that sorts by `CameraCluster` order.""" # Sort the `Camcorder`s to include based on the order of `CameraCluster` cameras - self._cams_to_include = cams_to_include.sort( - key=self.camera_cluster.cameras.index + self._cams_to_include = sorted( + cams_to_include, key=self.camera_cluster.cameras.index ) # Update the `excluded_views` attribute excluded_cams = list(set(self.camera_cluster.cameras) - set(cams_to_include)) excluded_cams.sort(key=self.camera_cluster.cameras.index) - self._excluded_views = (cam.name for cam in excluded_cams) + self._excluded_views = tuple([cam.name for cam in excluded_cams]) @property def excluded_views(self) -> Optional[Tuple[str]]: @@ -1652,8 +1653,8 @@ def numpy( frame_group_numpy = np.stack(instance_group_numpys, axis=1) # M=all x T x N x 2 cams_to_include_mask = np.array( - [1 if cam in self.cams_to_include else 0 for cam in self.cameras] - ) # M=include x 1 + [cam in self.cams_to_include for cam in self.cameras] + ) # M=all x 1 return frame_group_numpy[cams_to_include_mask] # M=include x T x N x 2 @@ -1728,7 +1729,7 @@ def remove_instance(self, instance: Instance): # Remove the `Instance` from the `InstanceGroup` camera = instance_group.get_cam(instance=instance) - instance_group.remove_instance(instance=instance) + instance_group.remove_instance(instance_or_cam=instance) # Remove the `Instance` from the `FrameGroup` self._instances_by_cam[camera].remove(instance) @@ -1809,6 +1810,7 @@ def remove_instance_group(self, instance_group: InstanceGroup): if labeled_frame is not None: self.remove_labeled_frame(camera=camera) + # TODO(LM): maintain this as a dictionary for quick lookups def get_instance_group(self, instance: Instance) -> Optional[InstanceGroup]: """Get `InstanceGroup` that contains `Instance` if exists. Otherwise, None. @@ -1970,7 +1972,7 @@ def _create_and_add_instance( ) # Add the `Instance` to the `FrameGroup` - self._instances_by_cam[camera].add(instance=instance) + self._instances_by_cam[camera].add(instance) def create_and_add_missing_instances(self, instance_group: InstanceGroup): """Add missing instances to `FrameGroup` from `InstanceGroup`s. @@ -2002,7 +2004,7 @@ def create_and_add_missing_instances(self, instance_group: InstanceGroup): # Create an instance self._create_and_add_instance( - instance_group=instance_group, cam=cam, labeled_frame=labeled_frame + instance_group=instance_group, camera=cam, labeled_frame=labeled_frame ) def upsert_points( diff --git a/tests/gui/test_commands.py b/tests/gui/test_commands.py index 9bf587859..68c8fb578 100644 --- a/tests/gui/test_commands.py +++ b/tests/gui/test_commands.py @@ -4,6 +4,7 @@ from pathlib import Path, PurePath from typing import List +import numpy as np import pytest from sleap import PredictedInstance, Skeleton, Track @@ -17,9 +18,11 @@ RemoveVideo, ReplaceVideo, SaveProjectAs, + TriangulateSession, get_new_version_filename, ) from sleap.instance import Instance, LabeledFrame +from sleap.io.cameras import InstanceGroup, FrameGroup, RecordingSession from sleap.io.convert import default_analysis_filename from sleap.io.dataset import Labels from sleap.io.format.adaptor import Adaptor @@ -951,3 +954,152 @@ def test_AddSession( assert len(labels.sessions) == 2 assert context.state["session"] is session assert labels.sessions[1] is not session + + +def test_TriangulateSession_has_enough_instances(multiview_min_session_frame_groups): + """Test that `TriangulateSession.has_enough_instances` works.""" + + labels = multiview_min_session_frame_groups + session: RecordingSession = labels.sessions[0] + frame_group = session.frame_groups[0] + + # Assure that all instance groups are selected + instance_groups_to_triangulate = TriangulateSession.has_enough_instances( + frame_group=frame_group + ) + assert instance_groups_to_triangulate == frame_group.instance_groups + + # Remove most instances from last instance group, ensure 2 instances left + instance_group = frame_group.instance_groups[-1] + for instance in instance_group.instances[:-2]: + frame_group.remove_instance(instance=instance) + assert len(instance_group.instances) == 2 + + # All instance groups should still be selected + instance_groups_to_triangulate = TriangulateSession.has_enough_instances( + frame_group=frame_group + ) + assert instance_groups_to_triangulate == frame_group.instance_groups + + # Remove one more instance from last instance group, ensure 1 instance left + for instance in instance_group.instances[:-1]: + frame_group.remove_instance(instance=instance) + assert len(instance_group.instances) == 1 + + # Last instance group should not be selected + instance_groups_to_triangulate = TriangulateSession.has_enough_instances( + frame_group=frame_group + ) + assert instance_groups_to_triangulate == frame_group.instance_groups[:-1] + + +def test_TriangulateSession_do_action(multiview_min_session_frame_groups): + """Test that `TriangulateSession.do_action` works.""" + + labels: Labels = multiview_min_session_frame_groups + + # Test triangulate session without selected instance (all instances triangulated) + + # Get all the info for `params`` + video: Video = labels.videos[0] + session: RecordingSession = labels.sessions[0] + frame_idx: int = 0 + frame_group: FrameGroup = session.frame_groups[frame_idx] + + # Get `FrameGroup` numpy before triangulation + frame_group_np = frame_group.numpy() + + # Set-up CommandContext + context = CommandContext.from_labels(labels) + params = { + "session": session, + "frame_idx": frame_idx, + "frame_group": frame_group, + } + TriangulateSession.do_action(context, params) + + # Expect all instances to be triangulated + for inst_group_idx, instance_group in enumerate(frame_group.instance_groups): + inst_group_np = frame_group_np[:, inst_group_idx] + inst_group_np_triangulated = instance_group.numpy() + assert not np.allclose( + inst_group_np, inst_group_np_triangulated, equal_nan=True + ) + + # Test triangulate session with selected instance (only selected IG triangulated) + + # Let's be thorough and select an `Instance` in the correct `Video` + instance_group_to_tri: InstanceGroup = frame_group.instance_groups[0] + camera = session.get_camera(video=video) + instance = instance_group_to_tri.get_instance(cam=camera) + assert instance is not None + + # Get `FrameGroup` numpy before triangulation + frame_group_np = frame_group.numpy() + + # Test with `Instance` passed in `params` + params = { + "session": session, + "frame_idx": frame_idx, + "frame_group": frame_group, + "instance": instance, + } + TriangulateSession.do_action(context, params) + + # Expect only `Instance`s in instance's `InstanceGroup` to be triangulated + for inst_group_idx, instance_group in enumerate(frame_group.instance_groups): + inst_group_np = frame_group_np[:, inst_group_idx] + inst_group_np_post_tri = instance_group.numpy() + if instance_group == instance_group_to_tri: + assert not np.allclose( + inst_group_np, inst_group_np_post_tri, equal_nan=True + ) + else: + assert np.allclose(inst_group_np, inst_group_np_post_tri, equal_nan=True) + + # Test triangulate session using GuiState + context.state["session"] = session + context.state["frame_idx"] = frame_idx + context.state["frame_group"] = frame_group + params = {} + + # Get `FrameGroup` numpy before triangulation + frame_group_np = frame_group.numpy() + + TriangulateSession.do_action(context, params) + + # Expect all instances to be triangulated + for inst_group_idx, instance_group in enumerate(frame_group.instance_groups): + inst_group_np = frame_group_np[:, inst_group_idx] + inst_group_np_triangulated = instance_group.numpy() + assert not np.allclose( + inst_group_np, inst_group_np_triangulated, equal_nan=True + ) + + # Test triangulate session with selected instance (only selected IG triangulated) + + # Let's be thorough and select an `Instance` in the correct `Video` + instance_group_to_tri: InstanceGroup = frame_group.instance_groups[0] + camera = session.get_camera(video=video) + instance = instance_group_to_tri.get_instance(cam=camera) + assert instance is not None + + # Get `FrameGroup` numpy before triangulation + frame_group_np = frame_group.numpy() + + # Test with `Instance` passed in `context` + context.state["instance"] = instance + TriangulateSession.do_action(context, params) + + # Expect only `Instance`s in instance's `InstanceGroup` to be triangulated + for inst_group_idx, instance_group in enumerate(frame_group.instance_groups): + inst_group_np = frame_group_np[:, inst_group_idx] + inst_group_np_post_tri = instance_group.numpy() + if instance_group == instance_group_to_tri: + assert not np.allclose( + inst_group_np, inst_group_np_post_tri, equal_nan=True + ) + else: + assert np.allclose(inst_group_np, inst_group_np_post_tri, equal_nan=True) + + # TODO(LM): Test with `PredictedInstance`s diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 6de4dc9d5..6bb49da98 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -448,7 +448,9 @@ def create_instance_group( ) -def test_instance_group(multiview_min_session_labels: Labels): +def test_instance_group( + multiview_min_session_labels: Labels, multiview_min_session_frame_groups: Labels +): """Test `InstanceGroup` data structure.""" labels = multiview_min_session_labels @@ -560,11 +562,41 @@ def test_instance_group(multiview_min_session_labels: Labels): name_registry={}, ) - # Test __repr__ + # Test `__repr__` print(instance_group) + # Switch Labels files to one that already contains populated `InstanceGroup`s + labels = multiview_min_session_frame_groups + session: RecordingSession = labels.sessions[0] + frame_idx = 0 + frame_group = session.frame_groups[frame_idx] + instance_group = frame_group.instance_groups[0] -def test_frame_group(multiview_min_session_labels: Labels): + # Test `numpy` method + instance_group_numpy = instance_group.numpy() + n_views, n_nodes, n_coords = instance_group_numpy.shape + assert n_views == len(instance_group.camera_cluster.cameras) + assert n_nodes == len(instance_group.dummy_instance.skeleton.nodes) + assert n_coords == 2 + # Different instance groups should have different coordinates + for inst_idx, _ in enumerate(instance_group.instances[:-1]): + assert not np.allclose( + instance_group_numpy[:, inst_idx], + instance_group_numpy[:, inst_idx + 1], + equal_nan=True, + ) + # Different views should have different coordinates + for view_idx, _ in enumerate(instance_group.camera_cluster.cameras[:-1]): + assert not np.allclose( + instance_group_numpy[view_idx], + instance_group_numpy[view_idx + 1], + equal_nan=True, + ) + + +def test_frame_group( + multiview_min_session_labels: Labels, multiview_min_session_frame_groups: Labels +): """Test `FrameGroup` data structure.""" labels = multiview_min_session_labels @@ -653,3 +685,32 @@ def test_frame_group(multiview_min_session_labels: Labels): # Test `__repr__` print(frame_group_4) + + # Switch Labels files to one that already contains populated `FrameGroup`s + labels = multiview_min_session_frame_groups + session: RecordingSession = labels.sessions[0] + frame_idx = 0 + frame_group = session.frame_groups[frame_idx] + + # Test `cams_to_include` + session.cams_to_include = session.cams_to_include[1:] + assert frame_group.cams_to_include == session.cams_to_include + assert len(frame_group.cams_to_include) == len(session.linked_cameras) - 1 + + # Test `numpy` method + frame_group_np = frame_group.numpy() + n_views, n_inst_groups, n_nodes, n_coords = frame_group_np.shape + assert n_views == len(frame_group.cams_to_include) + assert n_inst_groups == len(frame_group.instance_groups) + assert n_nodes == len(labels.skeleton.nodes) + assert n_coords == 2 + # Different instance groups should have different coordinates + assert not np.allclose(frame_group_np[:, 0], frame_group_np[:, 1], equal_nan=True) + # Different views should have different coordinates + assert not np.allclose(frame_group_np[0], frame_group_np[1], equal_nan=True) + + # Test `get_instace_group` + instance_group = frame_group.instance_groups[0] + camera = session.cameras[0] + instance = instance_group.get_instance(cam=camera) + assert frame_group.get_instance_group(instance=instance) == instance_group From 507eefa5d7fe9914ca248e054ce3b82b06f97fc3 Mon Sep 17 00:00:00 2001 From: Liezl Maree <38435167+roomrys@users.noreply.github.com> Date: Thu, 25 Apr 2024 14:33:55 -0700 Subject: [PATCH 39/41] (3a -> 3) Debug missing `PredictedInstance`s (not displaying in GUI) (#1757) * Add new `PredictedInstance`s to `LabeledFrame` * Replace `PredictedInstance` with `Instance` when double click * Remove (or replace) `Instance` when `Labels.remove_instance` --- sleap/gui/commands.py | 20 ++++++++++++++++++++ sleap/io/cameras.py | 15 +++++++++------ sleap/io/dataset.py | 34 ++++++++++++++++++++++++++++++++-- 3 files changed, 61 insertions(+), 8 deletions(-) diff --git a/sleap/gui/commands.py b/sleap/gui/commands.py index 4e3f3de5e..41dbb29a4 100644 --- a/sleap/gui/commands.py +++ b/sleap/gui/commands.py @@ -2928,6 +2928,26 @@ def do_action(cls, context: CommandContext, params: dict): if context.state["labeled_frame"] not in context.labels.labels: context.labels.append(context.state["labeled_frame"]) + # Also add the instance to the frame group if it exists + video = context.state["video"] + session = context.labels.get_session(video=video) + if session is None: + return + + frame_idx = context.state["frame_idx"] + frame_group = session.frame_groups.get(frame_idx, None) + if frame_group is None: + return + + instance_group = frame_group.get_instance_group(instance=from_predicted) + if instance_group is None: + return + + camera = session.get_camera(video=video) + frame_group.add_instance( + instance=new_instance, camera=camera, instance_group=instance_group + ) + @staticmethod def create_new_instance( context: CommandContext, diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 53980e4ac..42938d284 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -1666,15 +1666,15 @@ def add_instance( ): """Add an (existing) `Instance` to the `FrameGroup`. - If no `InstanceGroup` is provided, then check the `Instance` is already in an + If no `InstanceGroup` is provided, then require the `Instance` is already in an `InstanceGroup` contained in the `FrameGroup`. Otherwise, add the `Instance` to - the `InstanceGroup` and `FrameGroup`. + the both the `FrameGroup` and provided `InstanceGroup`. Args: instance: `Instance` to add to the `FrameGroup`. camera: `Camcorder` to link the `Instance` to. instance_group: `InstanceGroup` to add the `Instance` to. If None, then - check the `Instance` is already in an `InstanceGroup`. + require the `Instance` is already in `FrameGroup.instance_groups`. Raises: ValueError: If the `InstanceGroup` is not in the `FrameGroup`. @@ -1721,9 +1721,9 @@ def remove_instance(self, instance: Instance): instance_group = self.get_instance_group(instance=instance) if instance_group is None: - logger.warning( - f"Instance {instance} not found in this FrameGroup.instance_groups: " - f"{self.instance_groups}." + logger.debug( + f"Instance to remove {instance} not found in this " + f"FrameGroup.instance_groups: {self.instance_groups}." ) return @@ -1974,6 +1974,9 @@ def _create_and_add_instance( # Add the `Instance` to the `FrameGroup` self._instances_by_cam[camera].add(instance) + # Add the `Instance` to the `RecordingSession`'s `Labels` (and `LabeledFrame`) + self.session.labels.add_instance(frame=labeled_frame, instance=instance) + def create_and_add_missing_instances(self, instance_group: InstanceGroup): """Add missing instances to `FrameGroup` from `InstanceGroup`s. diff --git a/sleap/io/dataset.py b/sleap/io/dataset.py index f71d4fa73..17f1555ce 100644 --- a/sleap/io/dataset.py +++ b/sleap/io/dataset.py @@ -62,7 +62,7 @@ import numpy as np import datetime from sklearn.model_selection import train_test_split -from sleap.io.cameras import RecordingSession +from sleap.io.cameras import FrameGroup, RecordingSession try: from typing import ForwardRef @@ -1405,11 +1405,41 @@ def track_swap( def remove_instance( self, frame: LabeledFrame, instance: Instance, in_transaction: bool = False ): - """Remove instance from frame, updating track occupancy.""" + """Remove instance from frame, updating track occupancy and `FrameGroup`.""" + frame.instances.remove(instance) if not in_transaction: self._cache.remove_instance(frame, instance) + # Also remove instance from `InstanceGroup` if any + session = self.get_session(frame.video) + if session is None: + return # No session, so no `FrameGroup` to update + frame_group: FrameGroup = session.frame_groups.get(frame.frame_idx, None) + if frame_group is None: + return # No `FrameGroup` for this frame + video = frame.video + camera = session.get_camera(video=video) + if camera is None: + return # No camera, so no `InstanceGroup` to update + + # If `Instance.from_predicted`, then replace with `PredictedInstance` + instance_group = frame_group.get_instance_group(instance=instance) + replace_instance = (instance.from_predicted is not None) and ( + instance_group is not None + ) + + # Add the new instance to the `FrameGroup` and replace the old one + if replace_instance: + frame_group.add_instance( + instance=instance.from_predicted, + camera=camera, + instance_group=instance_group, + ) + # Otherwise just remove the instance + else: + frame_group.remove_instance(instance=instance) + def add_instance(self, frame: LabeledFrame, instance: Instance): """Add instance to frame, updating track occupancy.""" # Ensure that there isn't already an Instance with this track From 55c6fd4483ab046c1a7a089506c22aae2ec4549c Mon Sep 17 00:00:00 2001 From: Liezl Maree <38435167+roomrys@users.noreply.github.com> Date: Tue, 30 Apr 2024 16:55:09 -0700 Subject: [PATCH 40/41] Test `InstanceGroup` and `FrameGroup` (#1759) * Add more tests for * Add more tests for `FrameGroup` * Add more tests * Add fixes (caught by tests) --- sleap/io/cameras.py | 17 ++-- tests/io/test_cameras.py | 187 ++++++++++++++++++++++++++++++++++----- 2 files changed, 175 insertions(+), 29 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 42938d284..3d115c20c 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -551,7 +551,7 @@ def instance_by_camcorder(self) -> Dict[Camcorder, Instance]: """Dictionary of `Instance` objects by `Camcorder`.""" return self._instance_by_camcorder - def numpy(self, pred_as_nan: bool = False) -> np.ndarray: + def numpy(self, pred_as_nan: bool = False, invisible_as_nan=True) -> np.ndarray: """Return instances as a numpy array of shape (n_views, n_nodes, 2). The ordering of views is based on the ordering of `Camcorder`s in the @@ -563,6 +563,8 @@ def numpy(self, pred_as_nan: bool = False) -> np.ndarray: Args: pred_as_nan: If True, then replaces `PredictedInstance`s with all nan self.dummy_instance. Default is False. + invisible_as_nan: If True, then replaces invisible points with nan. Default + is True. Returns: Numpy array of shape (n_views, n_nodes, 2). @@ -581,7 +583,9 @@ def numpy(self, pred_as_nan: bool = False) -> np.ndarray: if use_dummy_instance: instance = self.dummy_instance # This is an all nan PredictedInstance - instance_numpy: np.ndarray = instance.numpy() # N x 2 + instance_numpy: np.ndarray = instance.get_points_array( + invisible_as_nan=invisible_as_nan + ) # N x 2 instance_numpys.append(instance_numpy) return np.stack(instance_numpys, axis=0) # M x N x 2 @@ -806,7 +810,7 @@ def update_points( def __getitem__( self, idx_or_key: Union[int, Camcorder, Instance] ) -> Union[Camcorder, Instance]: - """Grab a `Camcorder` of `Instance` from the `InstanceGroup`.""" + """Grab a `Camcorder` or `Instance` from the `InstanceGroup`.""" def _raise_key_error(): raise KeyError(f"Key {idx_or_key} not found in {self.__class__.__name__}.") @@ -1808,7 +1812,7 @@ def remove_instance_group(self, instance_group: InstanceGroup): # Remove the `LabeledFrame` from the `FrameGroup` labeled_frame = self.get_labeled_frame(camera=camera) if labeled_frame is not None: - self.remove_labeled_frame(camera=camera) + self.remove_labeled_frame(labeled_frame_or_camera=camera) # TODO(LM): maintain this as a dictionary for quick lookups def get_instance_group(self, instance: Instance) -> Optional[InstanceGroup]: @@ -1898,6 +1902,7 @@ def remove_labeled_frame( f"Cannot remove LabeledFrame: {labeled_frame_or_camera} is not a " "LabeledFrame or Camcorder." ) + return # Remove the `LabeledFrame` from the `FrameGroup` self._labeled_frame_by_cam.pop(camera, None) @@ -1927,6 +1932,8 @@ def get_camera(self, labeled_frame: LabeledFrame) -> Optional[Camcorder]: return self._cam_by_labeled_frame.get(labeled_frame, None) + # TODO(LM): Add a remove_camera method (for when we UnlinkVideo) + def _create_and_add_labeled_frame(self, camera: Camcorder) -> LabeledFrame: """Create and add a `LabeledFrame` to the `FrameGroup`. @@ -1948,7 +1955,7 @@ def _create_and_add_labeled_frame(self, camera: Camcorder) -> LabeledFrame: ) labeled_frame = LabeledFrame(video=video, frame_idx=self.frame_idx) - self.add_labeled_frame(labeled_frame=labeled_frame) + self.add_labeled_frame(labeled_frame=labeled_frame, camera=camera) return labeled_frame diff --git a/tests/io/test_cameras.py b/tests/io/test_cameras.py index 6bb49da98..f5437389a 100644 --- a/tests/io/test_cameras.py +++ b/tests/io/test_cameras.py @@ -1,6 +1,6 @@ """Module to test functions in `sleap.io.cameras`.""" -from typing import Dict, List, Tuple, Union +from typing import Dict, List, Optional, Tuple, Union import numpy as np import pytest @@ -12,7 +12,7 @@ FrameGroup, RecordingSession, ) -from sleap.io.dataset import Instance, Labels +from sleap.io.dataset import Instance, Labels, PredictedInstance from sleap.io.video import Video @@ -398,6 +398,7 @@ def create_instance_group( labels: Labels, frame_idx: int, add_dummy: bool = False, + name: Optional[str] = None, ) -> Union[ InstanceGroup, Tuple[InstanceGroup, Dict[Camcorder, Instance], Instance, Camcorder] ]: @@ -412,6 +413,9 @@ def create_instance_group( The `InstanceGroup` object. """ + if name is None: + name = "test_instance_group" + session = labels.sessions[0] lf = labels.labeled_frames[0] @@ -460,9 +464,15 @@ def test_instance_group( lf = labels.labeled_frames[0] frame_idx = lf.frame_idx + # Test `_create_dummy_instance` (fail) + instance_group = InstanceGroup(name="test_instance_group", frame_idx=frame_idx) + with pytest.raises(ValueError): + dummy_instance = instance_group._create_dummy_instance() + # Test `from_instance_by_camcorder_dict` + name = "test_instance_group" instance_group, instance_by_camera, dummy_instance, cam = create_instance_group( - labels=labels, frame_idx=frame_idx, add_dummy=True + labels=labels, frame_idx=frame_idx, add_dummy=True, name=name ) assert isinstance(instance_group, InstanceGroup) assert instance_group.frame_idx == frame_idx @@ -477,6 +487,40 @@ def test_instance_group( assert instance_group[camera] == instance_by_camera[camera] assert instance_group[instance] == camera + # Test `_create_dummy_instance` (pass) + dummy_instance = instance_group.dummy_instance + assert isinstance(dummy_instance, PredictedInstance) + matched_instance = instance_group.instances[0] + assert dummy_instance.skeleton == matched_instance.skeleton + assert np.all(np.isnan(dummy_instance.points)) + assert np.isnan( + dummy_instance.score + ) # TODO(LM): Should be OKS (g.t. vs reprojection) + assert dummy_instance.tracking_score == 0.0 + + # Test `name` property + assert instance_group.name == name + + # Test `name.setter` + with pytest.raises(ValueError): + instance_group.name = "test_instance_group_2" + + # Test `set_name` + new_name = "test_instance_group_2" + name_registry = {instance_group.name} + instance_group.set_name(name=new_name, name_registry=name_registry) + assert instance_group.name == new_name + assert instance_group.name in name_registry + assert name not in name_registry + with pytest.raises(ValueError): # Name already in registry + instance_group.set_name(name=new_name, name_registry=name_registry) + + # Test `return_unique_name` + name_registry = {"instance_group_1"} + new_name = instance_group.return_unique_name(name_registry=name_registry) + assert new_name not in name_registry + assert new_name == "instance_group_2" + # Test `to_dict` labeled_frame_to_idx = {lf: idx for idx, lf in enumerate(labels.labeled_frames)} instance_to_lf_and_inst_idx = { @@ -533,26 +577,6 @@ def test_instance_group( with pytest.raises(KeyError): instance_group[len(instance_group)] - # Test `_dummy_instance` property - assert ( - instance_group.dummy_instance.skeleton == instance_group.instances[0].skeleton - ) - assert isinstance(instance_group.dummy_instance, Instance) - - # Test `numpy` method - instance_group_numpy = instance_group.numpy() - assert isinstance(instance_group_numpy, np.ndarray) - n_views, n_nodes, n_coords = instance_group_numpy.shape - assert n_views == len(instance_group.camera_cluster.cameras) - assert n_nodes == len(instance_group.dummy_instance.skeleton.nodes) - assert n_coords == 2 - - # Test `update_points` method - instance_group.update_points(np.full((n_views, n_nodes, n_coords), 0)) - instance_group_numpy = instance_group.numpy() - np.nan_to_num(instance_group_numpy, nan=0) - assert np.all(np.nan_to_num(instance_group_numpy, nan=0) == 0) - # Populate with only dummy instance and test `from_instance_by_camcorder_dict` instance_by_camera = {cam: dummy_instance} with pytest.raises(ValueError): @@ -593,6 +617,30 @@ def test_instance_group( equal_nan=True, ) + # Test `update_points` method + assert not np.all(instance_group.numpy(invisible_as_nan=False) == 72317) + instance_group.update_points(np.full((n_views, n_nodes, n_coords), 72317)) + instance_group_numpy = instance_group.numpy(invisible_as_nan=False) + assert np.all(instance_group_numpy == 72317) + + # Test `add_instance`, `replace_instance`, and `remove_instance` + cam = instance_group.cameras[0] + instance = instance_group.instances[1] + assert instance_group.get_instance(cam) != instance + with pytest.raises(ValueError): # `Instance` already in this `InstanceGroup` + instance_group.add_instance(instance=instance, cam=cam) + # Let's replace an instance + instance_being_replaced = instance_group.get_instance(cam=cam) + old_instance_cam = instance_group.get_cam(instance=instance) + instance_group.replace_instance(instance=instance, cam=cam) + assert instance_group.get_instance(cam=cam) == instance + assert instance_being_replaced not in instance_group.instances + assert old_instance_cam not in instance_group.cameras + # Let's remove an instance (using `Camcorder` input) + instance_group.remove_instance(instance_or_cam=cam) + assert instance not in instance_group.instances + assert cam not in instance_group.cameras + def test_frame_group( multiview_min_session_labels: Labels, multiview_min_session_frame_groups: Labels @@ -696,6 +744,8 @@ def test_frame_group( session.cams_to_include = session.cams_to_include[1:] assert frame_group.cams_to_include == session.cams_to_include assert len(frame_group.cams_to_include) == len(session.linked_cameras) - 1 + with pytest.raises(ValueError): + frame_group.cams_to_include = session.linked_cameras # Test `numpy` method frame_group_np = frame_group.numpy() @@ -709,8 +759,97 @@ def test_frame_group( # Different views should have different coordinates assert not np.allclose(frame_group_np[0], frame_group_np[1], equal_nan=True) - # Test `get_instace_group` + # Test `get_instance_group` instance_group = frame_group.instance_groups[0] camera = session.cameras[0] instance = instance_group.get_instance(cam=camera) assert frame_group.get_instance_group(instance=instance) == instance_group + + # Test `instance_groups.setter` + inst_group_to_remove = frame_group.instance_groups[0] + len_instance_groups = len(frame_group.instance_groups) + frame_group.instance_groups = frame_group.instance_groups[1:] + assert inst_group_to_remove not in frame_group.instance_groups + assert len(frame_group.instance_groups) == len_instance_groups - 1 + # # TODO(LM): Create custom class for `frame_group.instance_groups` + # frame_group.instance_groups.append(inst_group_to_remove) + # assert inst_group_to_remove not in frame_group.instance_groups + frame_group.instance_groups = frame_group.instance_groups + [inst_group_to_remove] + assert inst_group_to_remove in frame_group.instance_groups + + # Test `remove_instance_group` + len_instance_groups = len(frame_group.instance_groups) + frame_group.remove_instance_group(instance_group=inst_group_to_remove) + assert inst_group_to_remove not in frame_group.instance_groups + assert len(frame_group.instance_groups) == len_instance_groups - 1 + assert inst_group_to_remove.name not in frame_group._instance_group_name_registry + for camera, instance in inst_group_to_remove.instance_by_camcorder.items(): + assert instance not in frame_group._instances_by_cam[camera] + instance_removed = inst_group_to_remove.instances[0] + + # Test `remove_instance` + frame_group.remove_instance(instance=instance_removed) # Does nothing + instance_to_remove = frame_group.instance_groups[0].instances[0] + labeled_frame_to_remove = instance_to_remove.frame + camera_to_remove = frame_group.get_camera(labeled_frame=labeled_frame_to_remove) + for instance_to_remove in labeled_frame_to_remove.instances: + instance_group = frame_group.get_instance_group(instance=instance_to_remove) + frame_group.remove_instance(instance=instance_to_remove) + if instance_group is not None: + assert camera_to_remove not in instance_group.cameras + assert instance_to_remove not in instance_group.instances + assert ( + instance_to_remove + not in frame_group._instances_by_cam[camera_to_remove] + ) + assert camera_to_remove not in frame_group.cameras + assert camera_to_remove not in frame_group._labeled_frame_by_cam + assert camera_to_remove not in frame_group._cam_by_labeled_frame + assert labeled_frame_to_remove not in frame_group.labeled_frames + assert labeled_frame_to_remove not in frame_group._cam_by_labeled_frame + + # Test `set_instance_group_name` + new_name = "instance_group_2" + with pytest.raises(ValueError): # `InstanceGroup` not in this `FrameGroup` + frame_group.set_instance_group_name( + instance_group=inst_group_to_remove, name=new_name + ) + instance_group = frame_group.instance_groups[0] + old_name = instance_group.name + frame_group.set_instance_group_name(instance_group=instance_group, name=new_name) + assert instance_group.name == new_name + assert new_name in frame_group._instance_group_name_registry + assert old_name not in frame_group._instance_group_name_registry + + # Test `get_labeled_frame` and `get_camera` + camera = frame_group.cameras[0] + labeled_frame = frame_group.get_labeled_frame(camera=camera) + assert frame_group.get_camera(labeled_frame=labeled_frame) == camera + + # Test `remove_labeled_frame` method and `cameras` and `labeled_frames` properties + assert camera in frame_group._labeled_frame_by_cam + assert labeled_frame in frame_group._cam_by_labeled_frame + assert camera in frame_group.cameras + assert labeled_frame in frame_group.labeled_frames + # Test with neither `LabeledFrame` nor `Camera` input + frame_group.remove_labeled_frame(labeled_frame_or_camera="neither") # Does nothing + # Test with `LabeledFrame` input + frame_group.remove_labeled_frame(labeled_frame_or_camera=labeled_frame) + assert camera not in frame_group._labeled_frame_by_cam + assert labeled_frame not in frame_group._cam_by_labeled_frame + assert camera not in frame_group.cameras + assert labeled_frame not in frame_group.labeled_frames + # Test with `Camera` input + camera = frame_group.cameras[0] + labeled_frame = frame_group.get_labeled_frame(camera=camera) + frame_group.remove_labeled_frame(labeled_frame_or_camera=camera) + assert camera not in frame_group.cameras + assert labeled_frame not in frame_group.labeled_frames + + # Test `_create_and_add_labeled_frame` + labeled_frame_created = frame_group._create_and_add_labeled_frame(camera=camera) + assert labeled_frame.video == session.get_video(camera) + assert labeled_frame.frame_idx == frame_group.frame_idx + assert camera in frame_group.cameras + assert labeled_frame_created in frame_group.labeled_frames + assert labeled_frame in frame_group.session.labels.labeled_frames From 07ea17b3a2b712b7340a559ae1b8482c48b202ce Mon Sep 17 00:00:00 2001 From: roomrys Date: Thu, 2 May 2024 12:55:33 -0700 Subject: [PATCH 41/41] Handle case when upserting_instances with no instances in at least one view --- sleap/io/cameras.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/sleap/io/cameras.py b/sleap/io/cameras.py index 3d115c20c..4ffd9adf4 100644 --- a/sleap/io/cameras.py +++ b/sleap/io/cameras.py @@ -1657,7 +1657,7 @@ def numpy( frame_group_numpy = np.stack(instance_group_numpys, axis=1) # M=all x T x N x 2 cams_to_include_mask = np.array( - [cam in self.cams_to_include for cam in self.cameras] + [cam in self.cams_to_include for cam in self.session.cameras] ) # M=all x 1 return frame_group_numpy[cams_to_include_mask] # M=include x T x N x 2 @@ -1953,8 +1953,12 @@ def _create_and_add_labeled_frame(self, camera: Camcorder) -> LabeledFrame: f"Camcorder {camera} is not linked to a video in this " f"RecordingSession {self.session}." ) - - labeled_frame = LabeledFrame(video=video, frame_idx=self.frame_idx) + # First try to find the `LabeledFrame` in the `RecordingSession`'s `Labels` + labeled_frames = self.session.labels.find(video=video, frame_idx=self.frame_idx) + if len(labeled_frames) > 0: + labeled_frame = labeled_frames[0] + else: + labeled_frame = LabeledFrame(video=video, frame_idx=self.frame_idx) self.add_labeled_frame(labeled_frame=labeled_frame, camera=camera) return labeled_frame