#!/usr/bin/env python3
#
# Copyright 2021 Graviti. Licensed under MIT License.
#
"""Frame.
:class:`Frame` is a concept in :class:`~tensorbay.dataset.dataset.FusionDataset`.
It is the structure that composes a :class:`~tensorbay.dataset.segment.FusionSegment`,
and consists of multiple :class:`~tensorbay.dataset.data.Data` collected at the same time
from different sensors.
"""
import logging
from typing import Any, Dict, Mapping, Optional, Sequence, Type, TypeVar
from uuid import UUID
from ulid import ULID, from_str, from_uuid
from ..utility import UserMutableMapping
from .data import DataBase, RemoteData
logger = logging.getLogger(__name__)
[docs]class Frame(UserMutableMapping[str, "DataBase._Type"]):
"""This class defines the concept of frame.
Frame is a concept in :class:`~tensorbay.dataset.dataset.FusionDataset`.
It is the structure that composes :class:`~tensorbay.dataset.segment.FusionSegment`,
and consists of multiple :class:`~tensorbay.dataset.data.Data` collected at the same time
corresponding to different sensors.
Since :class:`Frame` extends :class:`~tensorbay.utility.user.UserMutableMapping`,
its basic operations are the same as a dictionary's.
To initialize a Frame and add a :class:`~tensorbay.dataset.data.Data` to it:
.. code:: python
frame = Frame()
frame[sensor_name] = Data()
"""
_T = TypeVar("_T", bound="Frame")
_logger_flag = True
def __init__(self, frame_id: Optional[ULID] = None) -> None:
self._data: Dict[str, DataBase._Type] = {}
# self._pose: Optional[Transform3D] = None
if frame_id:
self.frame_id = frame_id
def _repr_head(self) -> str:
if hasattr(self, "frame_id"):
return f'{self.__class__.__name__}("{self.frame_id}")'
return self.__class__.__name__
[docs] @classmethod
def from_response_body(
cls: Type[_T], body: Dict[str, Any], frame_index: int, urls: Sequence[Mapping[str, str]]
) -> _T:
"""Loads a :class:`Frame` object from a response body.
Arguments:
body: The response body which contains the information of a frame,
whose format should be like::
{
"frameId": <str>,
"frame": [
{
"sensorName": <str>,
"remotePath": <str>,
"timestamp": <float>,
"label": {...}
},
...
...
]
}
frame_index: The index of the frame.
urls: A sequence of mappings which key is the sensor name and value is the url.
Returns:
The loaded :class:`Frame` object.
""" # noqa: DAR101 # https://github.com/terrencepreilly/darglint/issues/120
try:
frame_id = from_str(body["frameId"])
except ValueError:
# Legacy fusion dataset use uuid as frame ID
# Keep this code here to make SDK compatible with uuid
frame_id = from_uuid(UUID(body["frameId"]))
if cls._logger_flag: # pylint: disable=protected-access
cls._logger_flag = False # pylint: disable=protected-access
logger.warning(
"WARNING: This is a legacy fusion dataset which use uuid as frame ID, "
"it should be updated to ulid."
)
frame = cls(frame_id)
for data_contents in body["frame"]:
sensor_name = data_contents["sensorName"]
frame[sensor_name] = RemoteData.from_response_body(
data_contents,
_url_getter=lambda _, s=sensor_name: urls[frame_index][s], # type: ignore[misc]
)
return frame
# @property
# def pose(self) -> Optional[Transform3D]:
# """Return the pose of the frame.
# Returns:
# A :class:`~tensorbay.geometry.transform.Transform3D` object
# representing the pose of the frame.
# """
# return self._pose
# def set_pose(
# self,
# translation: Optional[Iterable[float]] = (0, 0, 0),
# rotation: Transform3D.RotationType = (1, 0, 0, 0),
# *,
# matrix: Optional[MatrixType] = None,
# ) -> None:
# """Set the pose of the current frame.
# Arguments:
# translation: Translation of the frame pose in a sequence of [x, y, z].
# rotation: Rotation of the frame pose in a sequence of [w, x, y, z]
# or a numpy quaternion object.
# matrix: The transform representing the frame pose in
# a 4x4 or 3x4 transform matrix.
# """
# self._pose = Transform3D(translation, rotation, matrix=matrix)