OrientedBoxes2D

Oriented Boxes 2D is defined by [x, y, w, h, theta] in which:

  • x, y: center coordinates (could be relative or absolute values)

  • w, h: width, height (could be relative or absolute values)

  • theta: rotation angle

Basic usage

import numpy as np
import torch
from aloscene import OrientedBoxes2D

boxes = OrientedBoxes2D(
    torch.tensor(
        [
            # [x,   y,   w,   h, theta]
            [0.5, 0.5, 0.2, 0.2, 0],
            [0.1, 0.1, 0.2, 0.3, np.pi / 6],
            [0.1, 0.8, 0.1, 0.3, -np.pi / 3],
            [0.6, 0.3, 0.4, 0.2, np.pi / 4],
        ],
        device=torch.device("cuda"),
    ),
    absolute=False, # use relative values for x, y, w, h
)

boxes.get_view().render()

Get coordinates of 4 corners for each boxes:

print(boxes.corners())

Convert to absolute value format with frame size = (300, 300):

abs_boxes = boxes.abs_boxes((300, 300))
print(abs_boxes)
print(abs_boxes.absolute)  # True
print(abs_boxes.rel_pos() == boxes) # True

Calucate oriented IoU/GIoU with another set of boxes:

boxes2 = OrientedBoxes2D(
    torch.tensor(
            [
                [1, 1, 2, 2, 0],
                [5, 5, 2, 3, np.pi / 6],
                [1, 1, 1, 3, -np.pi / 3],
                [3, 1, 4, 2, np.pi / 4]
            ],
            device=torch.device("cuda")
    )
)
iou = boxes.rotated_iou_with(boxes2)
giou = boxes.rotated_giou_with(boxes2)
print(iou)
print(giou)

API

class aloscene.oriented_boxes_2d.OrientedBoxes2D(x, absolute=True, frame_size=None, labels: Optional[Union[dict, aloscene.labels.Labels]] = None, names=('N', None), *args, **kwargs)

Bases: aloscene.tensors.augmented_tensor.AugmentedTensor

Oriented Boxes 2D is defined by [x, y, w, h, theta] in which: - x, y: center coordinates - w, h: width, height - theta: rotation angle

GLOBAL_COLOR_SET = array([[1.10596702e-01, 5.97482060e-01, 8.46929039e-01],        [2.65147551e-01, 8.21200398e-01, 7.68743685e-01],        [9.28976645e-01, 5.42528038e-02, 3.01085460e-01],        [2.71457265e-01, 1.73210450e-02, 3.36280255e-01],        [5.67186664e-01, 3.13842775e-01, 3.49128421e-01],        [4.49940534e-01, 1.89341429e-01, 9.97622434e-01],        [5.26236267e-01, 4.64894611e-01, 5.04227657e-01],        [6.46008537e-01, 9.32366280e-01, 4.46315707e-01],        [7.71382250e-01, 9.72007854e-01, 2.99214877e-01],        [7.85120679e-01, 9.71791272e-01, 7.91838632e-01],        [7.77441592e-01, 9.56892042e-02, 8.80824122e-01],        [6.16145634e-01, 1.88997795e-01, 4.68811191e-01],        [7.12538061e-01, 8.10948697e-01, 8.43023087e-01],        [7.95397235e-01, 6.61506634e-01, 8.66735310e-01],        [3.18192625e-01, 9.37436600e-01, 8.75667244e-01],        [5.17488391e-01, 1.92764504e-01, 3.37174634e-01],        [4.33465786e-01, 6.35205932e-01, 6.47603517e-01],        [3.81639375e-01, 4.49172560e-01, 8.11874017e-01],        [7.30263620e-01, 9.45876408e-01, 8.73981643e-01],        [4.64870111e-01, 3.17260859e-01, 2.01773214e-01],        [1.43075657e-01, 1.18753064e-01, 6.97456217e-01],        [2.77486195e-01, 6.03053516e-01, 6.21874327e-01],        [2.87143027e-01, 4.80799150e-01, 4.79909151e-01],        [1.64701496e-01, 6.12349890e-01, 7.02754232e-01],        [2.14319587e-01, 3.37432704e-01, 3.64662324e-01],        [1.76610047e-01, 1.37340015e-01, 6.20979209e-01],        [5.94207973e-02, 3.82255091e-01, 7.66543838e-01],        [3.58765499e-01, 4.06581083e-01, 8.02071244e-01],        [6.35584003e-01, 3.43492379e-01, 4.61617961e-01],        [8.24157363e-01, 1.33192793e-01, 3.20873807e-01],        [2.25226439e-01, 5.02320372e-01, 2.34068612e-02],        [2.80249115e-01, 7.62584241e-01, 4.17322725e-01],        [3.20973016e-01, 4.98685712e-01, 7.86326450e-01],        [1.35719585e-01, 8.35636532e-01, 2.14461673e-01],        [9.45811637e-01, 8.34949801e-01, 9.30273065e-01],        [4.09149733e-01, 2.99253306e-01, 7.75011383e-01],        [6.99061946e-01, 2.93970080e-01, 2.91348126e-01],        [3.31877959e-01, 2.84682345e-01, 9.36569415e-01],        [6.94024553e-01, 7.67761680e-01, 3.90666433e-01],        [3.33112482e-03, 6.93923941e-01, 3.98117998e-01],        [5.81749518e-01, 3.67700563e-01, 6.34473480e-01],        [4.07924467e-01, 8.59970786e-01, 5.10633622e-01],        [3.05301257e-01, 3.91299428e-01, 1.45196455e-01],        [9.80164268e-01, 5.15570085e-01, 5.97964669e-01],        [6.60351173e-01, 7.42895935e-01, 1.06757526e-01],        [4.13351250e-01, 8.54782298e-01, 2.79270662e-01],        [8.60788182e-01, 4.11412094e-01, 5.55350342e-01],        [5.54862369e-01, 6.22413266e-01, 4.01826448e-01],        [4.84538982e-01, 4.49621867e-01, 6.69479280e-01],        [2.12544761e-01, 7.01064562e-01, 1.15448396e-01],        [2.72939716e-01, 7.13832005e-01, 8.36553374e-03],        [2.92827347e-01, 7.53860176e-01, 3.27835129e-01],        [5.64166583e-02, 8.24447882e-01, 2.26956763e-01],        [8.75753328e-01, 5.46897770e-01, 8.75019079e-01],        [9.60250229e-01, 5.94014943e-01, 4.41889615e-01],        [8.75101960e-01, 5.82237027e-01, 5.27724104e-01],        [7.28959047e-02, 5.15179000e-01, 6.65088251e-01],        [4.80484864e-01, 5.89141990e-01, 7.98352541e-02],        [5.01117099e-01, 3.97909964e-01, 7.58061958e-01],        [6.62728852e-01, 2.56211088e-01, 2.59544810e-01],        [4.93404331e-01, 7.69090609e-01, 9.80548756e-01],        [3.22140182e-01, 9.69284451e-01, 1.78455093e-01],        [7.47907059e-01, 1.51396928e-01, 4.14109694e-01],        [7.45654602e-01, 9.94134256e-01, 4.64131004e-01],        [2.48213761e-01, 2.70103464e-02, 9.70163010e-01],        [5.65483130e-01, 5.56565124e-01, 9.31857782e-01],        [6.25394419e-01, 1.22349080e-01, 8.68236094e-01],        [6.24974845e-01, 8.23332853e-01, 1.55966798e-02],        [3.35117482e-01, 5.97864437e-01, 3.09652805e-01],        [6.59014283e-01, 7.95102486e-01, 6.49314570e-01],        [2.72187218e-01, 2.01447680e-02, 3.60247861e-01],        [1.08308663e-01, 2.58376747e-01, 3.77751604e-01],        [9.30190983e-01, 9.04425869e-02, 4.39137950e-01],        [2.30646462e-02, 8.20574823e-01, 8.77407023e-01],        [6.18546802e-01, 1.71499615e-01, 9.98630104e-01],        [7.30773518e-01, 9.84896261e-01, 8.18945779e-01],        [5.19628180e-01, 7.29159375e-01, 4.29738768e-01],        [3.09036772e-01, 2.15872935e-01, 2.62281202e-01],        [4.16817471e-01, 9.89689550e-01, 4.55398361e-02],        [3.74192287e-01, 2.86865287e-01, 7.92058403e-01],        [9.33531934e-01, 5.79853955e-01, 1.76019975e-01],        [5.82357466e-01, 1.81066590e-01, 5.81346552e-01],        [6.35765215e-02, 7.95853576e-02, 4.38933458e-01],        [1.42312343e-01, 7.54574824e-01, 1.78862323e-01],        [4.72028956e-02, 5.68479265e-01, 7.15981518e-01],        [8.38698314e-01, 6.92927763e-01, 4.32369469e-02],        [3.05273729e-01, 5.82402189e-01, 2.91010232e-01],        [7.05756191e-01, 7.73657264e-01, 5.89449456e-02],        [8.11509175e-01, 8.34515366e-02, 1.37727856e-01],        [8.51292242e-01, 9.45065270e-01, 9.23045578e-02],        [6.78869568e-01, 9.87310275e-01, 6.75140731e-01],        [3.50085920e-01, 2.18610614e-01, 4.43194812e-01],        [9.64600468e-02, 2.67483792e-01, 8.42297352e-01],        [7.64421797e-01, 4.75873084e-01, 8.99540086e-01],        [5.62143484e-01, 2.04761873e-01, 6.91144374e-01],        [5.79162661e-01, 1.41831862e-01, 7.60049439e-01],        [3.13658118e-01, 1.06963077e-01, 1.68516922e-01],        [5.30647157e-01, 1.70738131e-01, 7.95687222e-01],        [1.63692683e-01, 7.64911196e-01, 8.51831804e-01],        [1.06026421e-01, 9.52757911e-02, 2.08448056e-02],        [4.20330610e-01, 8.40034328e-01, 5.37835736e-01],        [2.11300245e-01, 9.88070478e-01, 6.04551275e-01],        [7.89874894e-01, 5.13596292e-01, 5.37103539e-01],        [7.34146171e-01, 3.02181674e-01, 5.56527501e-01],        [8.72271830e-01, 8.49555979e-01, 6.48886058e-01],        [1.58785518e-01, 9.05667166e-01, 7.57429174e-01],        [9.44939437e-01, 4.70273302e-03, 1.15730277e-01],        [4.59758080e-01, 7.00070727e-01, 1.01078656e-01],        [4.79491716e-01, 2.77914277e-01, 6.22662459e-01],        [6.24813112e-01, 8.22959938e-01, 7.94254100e-01],        [9.68046141e-01, 2.86393952e-01, 6.74953936e-01],        [8.67567753e-01, 8.00671225e-01, 1.16391443e-01],        [4.92103441e-01, 9.67975352e-01, 6.58234590e-01],        [8.00265454e-01, 5.64385619e-01, 1.65766207e-04],        [6.47917999e-01, 8.03496304e-01, 3.73304404e-01],        [1.43636328e-02, 1.79792720e-01, 6.86893799e-01],        [8.67653709e-01, 8.56414250e-01, 7.24537933e-01],        [2.16421821e-01, 9.83987536e-01, 6.02524928e-02],        [1.70921545e-01, 4.45766837e-01, 8.58853357e-01],        [2.65098195e-01, 7.32635855e-01, 2.70002547e-01],        [9.01715315e-01, 4.17392880e-01, 6.96715933e-01],        [8.24232008e-02, 8.53359910e-01, 1.77629993e-01],        [5.32080311e-02, 1.10021417e-01, 9.48989136e-02],        [9.84845043e-01, 8.03257652e-02, 1.52768676e-01],        [3.56884720e-01, 1.95958340e-01, 9.71677147e-01],        [5.96790655e-02, 3.53208562e-01, 1.12764148e-01],        [1.96186448e-01, 2.44783429e-01, 9.95431976e-01],        [7.39148222e-01, 2.35093884e-01, 5.42271943e-01],        [7.04680798e-01, 5.31229004e-01, 1.25488366e-01],        [9.12997630e-01, 2.73100681e-01, 7.54466717e-01],        [9.70087830e-01, 8.86501833e-01, 3.51860355e-01],        [7.47594311e-01, 5.78637232e-01, 5.64359957e-01],        [4.89365069e-01, 4.76323899e-01, 9.84010504e-02],        [8.63707289e-01, 1.15350205e-01, 3.66270462e-01],        [1.95883835e-01, 6.94554753e-01, 3.22549850e-01],        [6.56978680e-01, 1.45633296e-01, 8.03540064e-01],        [9.57303626e-01, 3.13108735e-01, 9.81666755e-01],        [9.56051858e-01, 7.56010235e-02, 8.30311304e-01],        [1.69224194e-01, 8.76487271e-01, 3.52855277e-01],        [7.02099545e-01, 7.57217245e-01, 1.25555607e-01],        [7.55354685e-01, 9.92941282e-01, 8.14851037e-02],        [2.93014832e-01, 3.84296254e-01, 4.55427503e-01],        [7.84388865e-01, 9.17055869e-01, 2.21552847e-01],        [1.52747529e-01, 3.59178390e-01, 8.03600335e-01],        [5.44732274e-01, 2.95142190e-01, 1.22852834e-01],        [1.79143252e-02, 4.15333085e-01, 8.25138723e-01],        [1.16156656e-01, 9.83872906e-01, 1.24551036e-01],        [3.78091111e-01, 2.78424306e-01, 4.32289133e-01],        [1.98457295e-01, 8.31183136e-01, 5.65152192e-01],        [5.54110357e-01, 2.97039598e-01, 9.29264704e-01],        [2.84749912e-01, 4.74146505e-01, 7.87583674e-01],        [5.19818748e-02, 1.44641618e-01, 8.77801385e-01],        [5.69515134e-01, 3.21621182e-01, 1.10611510e-01],        [2.63399274e-01, 1.13632814e-01, 6.36445537e-01],        [4.89131362e-02, 1.55939103e-01, 4.05920354e-01],        [4.38256748e-01, 8.56469828e-02, 2.82508046e-01],        [4.66971043e-01, 6.91784979e-01, 6.26990011e-02],        [7.16018163e-01, 8.32575747e-01, 1.71659425e-01],        [4.33678078e-01, 5.44688566e-01, 3.64427192e-01],        [2.68732776e-01, 8.61079053e-01, 8.09801983e-01],        [5.20627365e-01, 6.71052133e-01, 3.15566470e-01],        [5.52902272e-01, 5.32861072e-01, 9.46315548e-01],        [7.57948552e-01, 6.86956994e-02, 9.59462401e-01],        [7.11817739e-01, 9.54008178e-01, 1.13323163e-01],        [5.67928400e-01, 8.70313620e-03, 9.24663319e-01],        [8.79979004e-01, 2.83101718e-02, 5.61433931e-02],        [1.05185719e-01, 6.71259938e-01, 1.50632170e-01],        [5.09124164e-01, 7.55293852e-01, 3.79839197e-01],        [5.81817431e-01, 6.34189645e-01, 2.43444735e-01],        [8.71434822e-01, 8.86865847e-01, 5.28774609e-01],        [7.59054548e-01, 6.95150689e-01, 1.96349881e-01],        [1.23990757e-01, 1.35038607e-01, 2.93814590e-01],        [6.28435191e-01, 6.80945642e-01, 3.89885559e-01],        [5.11133025e-01, 2.34916476e-01, 8.44551811e-01],        [4.99098426e-02, 3.96248508e-01, 7.01389831e-01],        [9.97223866e-01, 8.43538160e-02, 7.13334349e-01],        [8.90623152e-01, 1.88881648e-01, 8.30764343e-01],        [2.74985858e-01, 4.31076889e-01, 9.78372089e-01],        [9.14911471e-01, 5.98771755e-01, 5.49713774e-01],        [2.50006558e-01, 2.63906017e-01, 4.33455423e-01],        [3.41820729e-01, 9.12021770e-01, 1.32596057e-01],        [2.80379387e-01, 4.27495814e-01, 1.10292364e-01],        [9.82470218e-01, 5.90246467e-01, 6.77826693e-02],        [6.94516350e-01, 7.89374835e-01, 7.51800828e-01],        [2.04947969e-01, 2.67483186e-01, 8.61587099e-01],        [1.78463067e-02, 8.52606388e-01, 6.74958449e-01],        [4.20592140e-01, 3.93950878e-01, 4.60212139e-01],        [7.71614282e-01, 2.41786611e-01, 3.47057405e-01],        [6.48030262e-01, 3.52658803e-01, 1.60041588e-01],        [4.02542744e-01, 8.86814944e-01, 1.49378200e-01],        [8.61773856e-01, 2.03398554e-01, 5.70718343e-01],        [2.23904364e-01, 6.99413904e-01, 5.35962038e-02],        [9.02609146e-01, 4.27192841e-01, 3.85366584e-01],        [4.24997086e-02, 1.13952673e-02, 1.61495355e-01],        [7.68971811e-01, 4.66659251e-01, 8.28471761e-01],        [2.87415176e-01, 2.30243579e-01, 2.04717023e-01],        [4.44810261e-01, 1.62588816e-01, 8.46745001e-01],        [4.00051602e-01, 3.02925814e-01, 2.43570700e-01],        [2.44081660e-01, 4.78037319e-02, 8.49325455e-01],        [2.09057900e-01, 7.49808423e-01, 8.21516043e-01],        [9.53381805e-01, 2.53742844e-01, 6.59196241e-01],        [2.94652585e-01, 3.19934985e-01, 3.21884820e-01],        [8.23298118e-01, 8.11572169e-01, 5.23647925e-01],        [1.80576126e-01, 7.85211241e-01, 1.06850095e-01],        [3.32765525e-02, 3.92519624e-01, 2.47869084e-01],        [7.53979624e-01, 5.28001460e-01, 7.35703430e-01],        [7.60587540e-02, 2.64142216e-01, 6.39638784e-01],        [7.92020874e-01, 8.35368218e-02, 8.38228521e-01],        [4.50727936e-01, 8.55437307e-01, 8.34645829e-01],        [4.73661135e-01, 8.03750293e-01, 7.54319462e-01],        [3.56804765e-01, 5.16490777e-01, 5.48081258e-01],        [5.84146473e-01, 6.34930565e-01, 4.88978771e-01],        [3.99775088e-02, 9.06857690e-02, 3.84463618e-01],        [6.29956402e-01, 1.88357981e-01, 7.63736254e-01],        [4.36199434e-01, 3.83815209e-01, 9.98802021e-01],        [2.76438300e-01, 6.50199273e-01, 3.63510266e-01],        [8.36231448e-01, 9.52569220e-01, 9.04167677e-01],        [5.23381958e-01, 1.70582914e-01, 4.85921243e-01],        [9.49187534e-02, 5.32321250e-01, 3.04303905e-01],        [1.62679464e-01, 1.27760922e-03, 5.39600003e-01],        [8.66723721e-01, 1.72226359e-01, 7.39763363e-01],        [5.36827042e-01, 5.43141384e-01, 3.46606147e-01],        [9.24025177e-01, 1.18590377e-01, 5.73455615e-01],        [7.22236057e-01, 7.09254644e-01, 4.58339510e-01],        [7.59693846e-01, 8.11124226e-01, 4.72679423e-01],        [9.84866116e-02, 8.14345273e-01, 5.02148027e-01],        [8.07880044e-01, 6.55362918e-01, 6.54334671e-01],        [5.67499068e-01, 2.79448105e-01, 9.71267741e-01],        [7.17129627e-01, 5.79035263e-01, 6.96495936e-01],        [8.78496098e-01, 2.98677499e-02, 1.48834808e-01],        [9.62787151e-01, 7.70008731e-01, 1.64915846e-01],        [9.18845964e-01, 3.63423042e-01, 8.04809226e-01],        [6.15506293e-02, 3.69879433e-01, 8.48147176e-01],        [6.68211478e-02, 1.81130519e-01, 4.42735322e-01],        [7.54512593e-02, 7.38471419e-01, 4.79300919e-01],        [7.23621722e-01, 7.44630692e-01, 8.51248612e-01],        [2.40962720e-01, 2.66960705e-01, 6.18296965e-01],        [3.78129718e-01, 5.55054480e-01, 3.32966981e-01],        [7.85671024e-01, 4.07361911e-01, 6.82143918e-01],        [9.62274267e-01, 5.66905130e-01, 4.32449319e-01],        [7.19658102e-01, 7.89524910e-01, 1.82621410e-01],        [5.00416320e-02, 8.18129853e-01, 4.84268810e-01],        [4.61564484e-01, 3.51674214e-01, 9.83329206e-01],        [5.45021435e-01, 6.94653947e-01, 9.16887195e-01],        [9.90313894e-01, 5.94535338e-01, 5.83708934e-01],        [6.60610769e-01, 7.66659612e-02, 7.17301763e-01],        [6.50293453e-01, 7.57129571e-01, 8.16431226e-01],        [1.95393683e-01, 5.12169042e-01, 8.04463429e-01],        [7.82177723e-01, 9.46232387e-01, 9.61665926e-01],        [4.68928579e-01, 8.58316872e-01, 3.39674161e-01],        [1.34851278e-01, 2.56746286e-01, 9.49219411e-01],        [6.83109898e-01, 5.32284414e-01, 6.39329815e-01],        [3.67527258e-01, 6.54686235e-02, 3.39778635e-01],        [8.57783664e-01, 2.26016131e-01, 7.60356952e-01],        [4.53631860e-01, 9.97327524e-01, 9.05957368e-01],        [9.18762107e-01, 5.18372489e-01, 2.77773580e-01],        [8.06210334e-01, 3.91256492e-01, 7.08912699e-01],        [3.31930795e-01, 1.78593137e-01, 2.99808706e-01],        [1.49493830e-01, 3.61922468e-01, 8.85841072e-01],        [8.98065324e-01, 9.24458203e-01, 2.70430650e-01],        [1.16886530e-01, 3.79241608e-01, 3.21935562e-01],        [5.38641228e-02, 8.33592468e-01, 6.59308577e-02],        [8.35338970e-01, 5.96526082e-01, 2.52993649e-04],        [6.95774269e-01, 2.35281259e-01, 3.46674042e-01],        [9.36276863e-01, 7.00565671e-01, 4.53381575e-01],        [6.07346811e-01, 5.33760713e-01, 9.67376126e-01],        [9.67979530e-01, 4.02216669e-01, 4.02224198e-01],        [7.26040759e-01, 2.52071569e-01, 4.48244354e-01],        [6.08317980e-01, 3.31839992e-01, 8.63503936e-01],        [1.84090080e-01, 7.44807442e-01, 2.86584065e-01],        [2.37594808e-01, 6.47700368e-01, 4.04771734e-01],        [5.74129347e-01, 3.05776466e-01, 2.46385916e-01],        [7.17480377e-01, 7.25432243e-01, 5.95174015e-01],        [8.62633722e-02, 8.44734519e-01, 9.44270017e-01],        [3.31128677e-01, 4.37155793e-01, 1.73226457e-01],        [3.77586006e-01, 5.36022002e-01, 2.88630857e-01],        [2.68507392e-01, 6.76006581e-01, 1.43597600e-01],        [3.11347827e-01, 8.42730215e-01, 6.41241494e-01],        [9.14770915e-01, 2.23998607e-01, 6.86460032e-01],        [8.97425823e-01, 8.23983146e-02, 3.19879779e-01],        [9.36165975e-01, 8.31939487e-01, 2.92270963e-01],        [2.83091248e-01, 6.73568654e-01, 4.10671862e-01],        [2.39018344e-01, 4.01023613e-01, 3.19900324e-01],        [7.91153068e-01, 1.95763808e-01, 3.88372827e-01],        [9.25409470e-01, 8.25493990e-01, 3.48153055e-01],        [9.66285481e-02, 2.12716393e-01, 1.39590570e-01],        [6.91977332e-01, 5.63913892e-02, 9.43413371e-01],        [4.06702779e-01, 5.48954334e-01, 7.04376091e-01],        [3.49626810e-01, 7.20816324e-01, 1.50888647e-01],        [8.86910936e-01, 2.46064335e-01, 1.38175275e-01],        [3.96657595e-01, 4.09910303e-01, 4.42288814e-01],        [5.85393316e-01, 9.50882574e-01, 7.35621356e-02],        [9.87451562e-01, 1.13168020e-01, 1.11863718e-01],        [4.07561498e-01, 8.90004727e-01, 4.88915652e-01],        [7.04852029e-01, 1.93820383e-01, 9.99377370e-01],        [1.11456517e-01, 2.15752975e-01, 9.51955247e-01],        [7.85620672e-01, 4.28136816e-01, 5.17386789e-01],        [1.07209305e-01, 9.68000022e-01, 6.05314606e-01],        [6.88312613e-01, 5.41128808e-01, 5.91632384e-01],        [7.48855822e-01, 7.23674810e-02, 6.61237738e-01]])
abs_pos(frame_size)

Get a new OrientedBoxes2D Tensor with absolute position relative to the given frame_size (H, W)

Parameters
frame_sizetuple

(Height, Width)

Returns
OrientedBoxes2D

boxes in absolute coordinates

rtype

OrientedBoxes2D ..

append_labels(labels, name=None)

Attach a set of labels to the boxes.

Parameters
labelsaloscene.Labels

Set of labels to attached to the frame

namestr

If none, the label will be attached without name (if possible). Otherwise if no other unnamed labels are attached to the frame, the labels will be added to the set of labels.

static boxes2abspos(tensor, frame_size)

Get a new OrientedBoxes2D Tensor with absolute position relative to the given frame_size (H, W)

Parameters
tensor: OrientedBoxes2D
frame_sizetuple

(Height, Width)

Returns
OrientedBoxes2D

boxes in absolute coordinates

rtype

OrientedBoxes2D ..

static boxes2relpos(tensor)

Get a new OrientedBoxes2D Tensor with relative position (between 0 and 1)

Parameters
tensorOrientedBoxes2D
Returns
OrientedBoxes2D
corners()

Get corners in x, y coordinates

Corners are in counter-clockwise order, started from the top right corner

Returns
torch.Tensor

shape (n, 4, 2) for n boxes, 4 vertices, 2 x-y coordinates

rtype

Tensor ..

get_view(frame=None, size=None, color=None, labels_set=None, **kwargs)

Create a view of the boxes in a frame

Parameters
framealoscene.Frame

Tensor of type Frame to display the boxes on. If the frame is None, a blank frame will be created.

size(tuple)

(height, width) Desired size of the view. None by default

colortuple

(R, G, B). None by default, a random color will be choosen.

labels_setstr

If provided, the boxes will rely on this label set to display the boxes color, and color parameter will be ignore. If not provided while the boxes have multiple labels set, the boxes will be display with the same color which can be set with color param.

rel_pos()

Get a new OrientedBoxes2D Tensor with relative position (between 0 and 1)

Returns
OrientedBoxes2D
static rotated_giou(boxes1, boxes2, enclosing_type='smallest', ret_iou=False)

Calculate GIoU for 2 sets of rotated boxes in order

Parameters
boxes1BoundingBoxes3D

Shape (n, 7)

boxes2BoundingBoxes3D

Shape (n, 7)

enclosing_typestr, optional
Choose the algorithm for finding enclosing box :

  • aligned # simple and naive. bad performance. fastest

  • pca # approximated smallest box. slightly worse performance.

  • smallest # [default]. brute force. smallest box. best performance. slowest

ret_ioubool, optional

If True, return also rotated IoU , by default False

Returns
Tensor or tuple of (Tensor, Tensor)

GIoU, of shape (n,)

IoU, of shape (n,) (if ret_iou3d True)

rotated_giou_with(boxes2, enclosing_type='smallest', ret_iou=False)

Calculate GIoU for 2 sets of rotated boxes in order

Parameters
boxes2BoundingBoxes3D

Shape (n, 7)

enclosing_typestr, optional
Choose the algorithm for finding enclosing box :

  • aligned # simple and naive. bad performance. fastest

  • pca # approximated smallest box. slightly worse performance.

  • smallest # [default]. brute force. smallest box. best performance. slowest

ret_ioubool, optional

If True, return also rotated IoU , by default False

Returns
Tensor or tuple of (Tensor, Tensor)

GIoU, of shape (n,)

IoU, of shape (n,) (if ret_iou3d True)

static rotated_iou(boxes1, boxes2, ret_union=False)

Compute the IOU between the two set of rotated boxes in order

Parameters
boxes1: aloscene.OrientedBoxes2D

(n, 5)

boxes2: aloscene.OrientedBoxes2D

(n, 5)

ret_unionbool, optional

If True, return union area, by default False

Returns
Tensor or tuple of (Tensor, Tensor)

IoU, shape (n,), rotated IOU between each pair of boxes

Union area, shape (n,), union area between each pair of boxes (if ret_union True)

rotated_iou_with(boxes2, ret_union=False)

Compute the IOU between the two set of rotated boxes in order

Parameters
boxes2: aloscene.OrientedBoxes2D

(n, 5)

ret_unionbool, optional

If True, return union area, by default False

Returns
Tensor or tuple of (Tensor, Tensor)

IoU, shape (n,), rotated IOU between each pair of boxes

Union area, shape (n,), union area between each pair of boxes (if ret_union True)