/jKddlmZddlmZddlmZddlmZddlZ ddl m Z m Z m Z mZmZmZmZdZed Zed Zgd Zd ZGd dZGddZdS)) annotations)abc)repeat)NumberN) ltwh2xywh ltwh2xyxyresample_segments xywh2ltwh xywh2xyxy xyxy2ltwh xyxy2xywhcfd}|S)zOCreate a function that converts input to n-tuple by repeating singleton values.cvt|tjr|ntt |S)zDParse input to return n-tuple by repeating singleton values n times.) isinstancerIterabletupler)xns _/home/longshao/multi-rider-rag/.venv/lib/python3.11/site-packages/ultralytics/utils/instance.pyparsez_ntuple..parses.q#,//HqqU6!Q<<5H5HH)rrs` r_ntuplers(IIIII Lr)xyxyxywhltwh)Bboxes InstancescfeZdZdZddd Zdd Zdd Zd dZd!dZd"dZ e d#d$dZ d%dZ dS)&r aFA class for handling bounding boxes in multiple formats. The class supports various bounding box formats like 'xyxy', 'xywh', and 'ltwh' and provides methods for format conversion, scaling, and area calculation. Bounding box data should be provided as numpy arrays. Attributes: bboxes (np.ndarray): The bounding boxes stored in a 2D numpy array with shape (N, 4). format (str): The format of the bounding boxes ('xyxy', 'xywh', or 'ltwh'). Methods: convert: Convert bounding box format from one type to another. areas: Calculate the area of bounding boxes. mul: Multiply bounding box coordinates by scale factor(s). add: Add offset to bounding box coordinates. concatenate: Concatenate multiple Bboxes objects. Examples: Create bounding boxes in YOLO format >>> bboxes = Bboxes(np.array([[100, 50, 150, 100]]), format="xywh") >>> bboxes.convert("xyxy") >>> print(bboxes.areas()) Notes: This class does not handle normalization or denormalization of bounding boxes. rbboxes np.ndarrayformatstrreturnNonec|tvsJd|dt|jdkr |dddfn|}|jdksJ|jddksJ||_||_dS)aInitialize the Bboxes class with bounding box data in a specified format. Args: bboxes (np.ndarray): Array of bounding boxes with shape (N, 4) or (4,). format (str): Format of the bounding boxes, one of 'xyxy', 'xywh', or 'ltwh'. Invalid bounding box format: , format must be one of rNrr)_formatsndimshaper#r%)selfr#r%s r__init__zBboxes.__init__>s!!!#m6#m#mck#m#m!!!$*K1$4$4aaa&{a|A!####  rc<|tvsJd|dt|j|krdS|jdkr|dkrtnt}n4|jdkr|dkrtnt }n|dkrt nt}||j|_||_dS)zConvert bounding box format from one type to another. Args: format (str): Target format for conversion, one of 'xyxy', 'xywh', or 'ltwh'. r*r+Nrr) r,r%rr r r r rr#)r/r%funcs rconvertzBboxes.convertLs !!!#m6#m#mck#m#m!!! ;& F [F " " && 0 099iDD [F " " && 0 099iDD && 0 099iDd4;''  rc|jdkrG|jdddf|jdddfz |jdddf|jdddfz zn"|jdddf|jdddfzS)%Calculate the area of bounding boxes.rNrrr)r%r#r/s rareasz Bboxes.areas^s{f$$[A QQQT!2 2t{111a47H4;WXWXWXZ[W[K\7\ ] ]QQQT"T[A%66 rscaleint | tuple | listct|trt|}t|ttfsJt |dksJ|jdddfxx|dzcc<|jdddfxx|dzcc<|jdddfxx|dzcc<|jdddfxx|dzcc<dS)zMultiply bounding box coordinates by scale factor(s). Args: scale (int | tuple | list): Scale factor(s) for four coordinates. If int, the same scale is applied to all coordinates. rNrrrr6rr to_4tuplerlistlenr#)r/r9s rmulz Bboxes.mulfs eV $ $ %e$$E%%/////5zzQ AAAqDU1X% AAAqDU1X% AAAqDU1X% AAAqDU1X%roffsetct|trt|}t|ttfsJt |dksJ|jdddfxx|dz cc<|jdddfxx|dz cc<|jdddfxx|dz cc<|jdddfxx|dz cc<dS)zAdd offset to bounding box coordinates. Args: offset (int | tuple | list): Offset(s) for four coordinates. If int, the same offset is applied to all coordinates. rNrrrr6r<)r/rAs raddz Bboxes.addvs ff % % 'v&&F&5$-000006{{a AAAqDVAY& AAAqDVAY& AAAqDVAY& AAAqDVAY&rintc*t|jS)z$Return the number of bounding boxes.r?r#r7s r__len__zBboxes.__len__4;rr boxes_list list[Bboxes]axisc:t|ttfsJ|s|tjdSt d|DsJt |dkr|dS|tjd|D|S)aConcatenate a list of Bboxes objects into a single Bboxes object. Args: boxes_list (list[Bboxes]): A list of Bboxes objects to concatenate. axis (int, optional): The axis along which to concatenate the bounding boxes. Returns: (Bboxes): A new Bboxes object containing the concatenated bounding boxes. Notes: The input should be a list or tuple of Bboxes objects. rc3@K|]}t|tVdSN)rr ).0boxs r z%Bboxes.concatenate..s,AAs:c6**AAAAAArrcg|] }|j Srr#rObs r z&Bboxes.concatenate..s"@"@"@18"@"@"@rrK)rr>rnpemptyallr? concatenate)clsrIrKs rr[zBboxes.concatenates*tUm44444 $3rx{{## #AAjAAAAAAAA z??a  a= s2>"@"@Z"@"@"@tLLLMMMrindexint | np.ndarray | slicect|tr.t|j|ddS|j|}|jdksJd|dt|S)aRetrieve a specific bounding box or a set of bounding boxes using indexing. Args: index (int | slice | np.ndarray): The index, slice, or boolean array to select the desired bounding boxes. Returns: (Bboxes): A new Bboxes object containing the selected bounding boxes. Notes: When using boolean indexing, make sure to provide a boolean array with the same length as the number of bounding boxes. rrzIndexing on Bboxes with z failed to return a matrix!)rrDr r#reshaper-)r/r]rUs r __getitem__zBboxes.__getitem__st eS ! ! =$+e,44Q;;<< < K v{{{YuYYY{{{ayyrN)r)r#r$r%r&r'r(r%r&r'r(r'r$)r9r:r'r()rAr:r'r(r'rDr)rIrJrKrDr'r )r]r^r'r ) __name__ __module__ __qualname____doc__r0r3r8r@rCrG classmethodr[rbrrrr r #s4     $    &&&& ''''     NNNN[N,rr ceZdZdZ d0d1dZd2dZed3dZd4d5dZd6dZ d6dZ d7d Z d8d#Z d9d$Z d:d%Zd6d&Zd3d'Zd;dd?d-Zed3d.Zd@d/ZdS)Ar!aContainer for bounding boxes, segments, and keypoints of detected objects in an image. This class provides a unified interface for handling different types of object annotations including bounding boxes, segmentation masks, and keypoints. It supports various operations like scaling, normalization, clipping, and format conversion. Attributes: _bboxes (Bboxes): Internal object for handling bounding box operations. keypoints (np.ndarray): Keypoints with shape (N, 17, 3) in format (x, y, visible). normalized (bool): Flag indicating whether the bounding box coordinates are normalized. segments (np.ndarray): Segments array with shape (N, M, 2) after resampling. Methods: convert_bbox: Convert bounding box format. scale: Scale coordinates by given factors. denormalize: Convert normalized coordinates to absolute coordinates. normalize: Convert absolute coordinates to normalized coordinates. add_padding: Add padding to coordinates. flipud: Flip coordinates vertically. fliplr: Flip coordinates horizontally. clip: Clip coordinates to stay within image boundaries. remove_zero_area_boxes: Remove boxes with zero area. update: Update instance variables. concatenate: Concatenate multiple Instances objects. Examples: Create instances with bounding boxes and segments >>> instances = Instances( ... bboxes=np.array([[10, 10, 30, 30], [20, 20, 40, 40]]), ... segments=[np.array([[5, 5], [10, 10]]), np.array([[15, 15], [20, 20]])], ... keypoints=np.array([[[5, 5, 1], [10, 10, 1]], [[15, 15, 1], [20, 20, 1]]]), ... ) NrTr#r$segments keypoints bbox_formatr& normalizedboolr'r(c\t|||_||_||_||_dS)aInitialize the Instances object with bounding boxes, segments, and keypoints. Args: bboxes (np.ndarray): Bounding boxes with shape (N, 4). segments (np.ndarray, optional): Segmentation masks. keypoints (np.ndarray, optional): Keypoints with shape (N, 17, 3) in format (x, y, visible). bbox_format (str): Format of bboxes. normalized (bool): Whether the coordinates are normalized. )r#r%N)r _bboxesrnrprm)r/r#rmrnrorps rr0zInstances.__init__s1"VK@@@ "$  rr%c<|j|dS)zConvert bounding box format. Args: format (str): Target format for conversion, one of 'xyxy', 'xywh', or 'ltwh'. r%N)rsr3)r/r%s r convert_bboxzInstances.convert_bboxs# F+++++rc4|jS)r5)rsr8r7s r bbox_areaszInstances.bbox_areass|!!###rFscale_wfloatscale_h bbox_onlyc|j||||f|rdS|jdxx|zcc<|jdxx|zcc<|j,|jdxx|zcc<|jdxx|zcc<dSdS)zScale coordinates by given factors. Args: scale_w (float): Scale factor for width. scale_h (float): Scale factor for height. bbox_only (bool, optional): Whether to scale only bounding boxes. r9N.r.r)rsr@rmrn)r/ryr{r|s rr9zInstances.scales '7CDDD   F f( f( > % N6 " " "g - " " " N6 " " "g - " " " " " & %rwrDhc|jsdS|j||||f|jdxx|zcc<|jdxx|zcc<|j*|jdxx|zcc<|jdxx|zcc<d|_dS)zConvert normalized coordinates to absolute coordinates. Args: w (int): Image width. h (int): Image height. Nr~rrFrprsr@rmrnr/rrs r denormalizezInstances.denormalize s  F 1a|,,, f" f" > % N6 " " "a ' " " " N6 " " "a ' " " "rc2|jrdS|jd|z d|z d|z d|z f|jdxx|zcc<|jdxx|zcc<|j*|jdxx|zcc<|jdxx|zcc<d|_dS)zConvert absolute coordinates to normalized coordinates. Args: w (int): Image width. h (int): Image height. Nrr~rrTrrs r normalizezInstances.normalizes ?  F Aq1ua!eQU;<<< f" f" > % N6 " " "a ' " " " N6 " " "a ' " " "rpadwpadhc |jr Jd|j||||f|jdxx|z cc<|jdxx|z cc<|j,|jdxx|z cc<|jdxx|z cc<dSdS)zAdd padding to coordinates. Args: padw (int): Padding width. padh (int): Padding height. z1you should add padding with absolute coordinates.)rArrN)rprsrCrmrn)r/rrs r add_paddingzInstances.add_padding.s?WW$WWW" tT4 8999 f% f% > % N6 " " "d * " " " N6 " " "d * " " " " " & %rr]r^ct|jr |j|n|j}|j |j|nd}|j|}|jj}t |||||jS)aRetrieve a specific instance or a set of instances using indexing. Args: index (int | slice | np.ndarray): The index, slice, or boolean array to select the desired instances. Returns: (Instances): A new Instances object containing the selected boxes, segments, and keypoints if present. Notes: When using boolean indexing, make sure to provide a boolean array with the same length as the number of instances. N)r#rmrnrorp)r?rmrnr#rsr%r!rp)r/r]rmrnr#ros rrbzInstances.__getitem__=s|,/t}+=+=P4=''4=-1^-GDN5))T U#l) #     rc|jjdkri|jdddf}|jdddf}||z |jdddf<||z |jdddf<n ||jdddfz |jdddf<||jdz |jd<|j||jdz |jd<dSdS)zWFlip coordinates vertically. Args: h (int): Image height. rNrr6rrsr%r#copyrmrn)r/ry1y2s rflipudzInstances.flipudV < & ( (QQQT"''))BQQQT"''))B !BDK1  !BDK1   !DK1$5 5DK1  !DM&$9 9 f > %%&)?%?DN6 " " " & %rc|jjdkri|jdddf}|jdddf}||z |jdddf<||z |jdddf<n ||jdddfz |jdddf<||jdz |jd<|j||jdz |jd<dSdS)zXFlip coordinates horizontally. Args: w (int): Image width. rNrrrr)r/rx1x2s rfliplrzInstances.fliplrgrrcZ|jj}|d|jddddgfd||jddddgf<|jddddgfd||jddddgf<|dkr|||jdd||jd<|jd d||jd <|jd |jd |jddk|jd|kz|jd dkz|jd |kz<|jdd||jd<|jd d||jd <dSdS) zClip coordinates to stay within image boundaries. Args: w (int): Image width. h (int): Image height. rruNrrrr6rrg).r)rsr%rvr#cliprmrn)r/rr ori_formats rrzInstances.clipxs\(  (((!%QQQAY!7! % N6 "'!+>&)A-/>&)A-/>&)A-/  &*^F%;%@%@A%F%FDN6 "%)^F%;%@%@A%F%FDN6 " " " & %rc|jdk}t|sX|j||_|j&t |jr|j||_|j|j||_|S)zRemove zero-area boxes, i.e. after clipping some boxes may have zero width or height. Returns: (np.ndarray): Boolean array indicating which boxes were kept. r)rxrZrsrmr?rn)r/goods rremove_zero_area_boxesz Instances.remove_zero_area_boxessl "4yy 6<-DL}(S-?-?( $ d 3 ~)!%!5 rcnt||jj|_|||_| ||_dSdS)zUpdate instance variables. Args: bboxes (np.ndarray): New bounding boxes. segments (np.ndarray, optional): New segments. keypoints (np.ndarray, optional): New keypoints. ruN)r rsr%rmrn)r/r#rmrns rupdatezInstances.updatesCfT\-@AAA  $DM  &DNNN ! rc*t|jS)zReturn the number of instances.rFr7s rrGzInstances.__len__rHrrinstances_listlist[Instances]c t|ttfsJ|s|tjdSt d|DsJt |dkr|dS|djdu}|djj }|dj }tj d|D|}d|D}t t|dkr2t| tj fd|D|}n tj d |D|}|r tj d |D|nd} |||| ||S) aConcatenate a list of Instances objects into a single Instances object. Args: instances_list (list[Instances]): A list of Instances objects to concatenate. axis (int, optional): The axis along which the arrays will be concatenated. Returns: (Instances): A new Instances object containing the concatenated bounding boxes, segments, and keypoints if present. 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