> ## Documentation Index > Fetch the complete documentation index at: https://docs.encord.com/llms.txt > Use this file to discover all available pages before exploring further. # Point Cloud (3D) ## Cuboids **Basic** This example includes the following: * Cuboid labeling **Advanced** This example includes the following: * Cuboid labeling * Radio button options * Checklist options * Text input **Cuboid Ontology** ![Cuboid Ontology](https://storage.googleapis.com/docs-media.encord.com/static/img/ontologies/ontology-pcd-cuboids.png) ```python Cuboids - Basic expandable theme={"dark"} # Import dependencies from encord import EncordUserClient, Project from encord.objects import Object from encord.objects.coordinates import CuboidCoordinates # User input SSH_PATH = "/Users/chris-encord/ssh-private-key.txt" # Replace with the file path to your SSH private key PROJECT_ID = "00000000-0000-0000-0000-000000000000" # Replace with the unique ID for the Project BUNDLE_SIZE = 100 # Create user client using ssh key user_client: EncordUserClient = EncordUserClient.create_with_ssh_private_key( ssh_private_key_path=SSH_PATH, # For US platform users use "https://api.us.encord.com" domain="https://api.encord.com", ) # Get project for which labels are to be added project: Project = user_client.get_project(PROJECT_ID) # Create radio button attribute for Person type ontology_structure = project.ontology_structure # Find a cuboid annotation object in the project ontology cuboid_ontology_object: Object = ontology_structure.get_child_by_title(title="Person", type_=Object) assert cuboid_ontology_object is not None, "Cuboid object 'Person' not found in ontology." # Dictionary of labels per data unit and per frame with Person pcd_labels = { "scene-1094": { 0: { "label_ref": "person_001", "coordinates": CuboidCoordinates( position=(9, 9, 9), orientation=(0.11, 0.77, 0.33), size=(0.2, 0.2, 0.2) ), } }, "scene-0916": { 0: [ { "label_ref": "person_002", "coordinates": CuboidCoordinates( position=(0.4, 0.4, 0.4), orientation=(0.0, 0.0, 0.4), size=(0.1, 0.1, 0.1) ), }, { "label_ref": "person_003", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.5, 0.5, 0.5) ), }, { "label_ref": "person_004", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.7, 0.7, 0.7) ), }, ], }, "scene-0796": { 0: { "label_ref": "person_005", "coordinates": CuboidCoordinates( position=(0.4, 0.4, 0.0), orientation=(0.0, 0.0, 0.4), size=(0.12, 0.12, 0.12) ), }, 2: [ { "label_ref": "person_006", "coordinates": CuboidCoordinates( position=(0.1, 0.1, 0.0), orientation=(0.0, 0.0, 0.2), size=(0.5, 0.5, 0.5) ), }, { "label_ref": "person_007", "coordinates": CuboidCoordinates( position=(0.1, 0.1, 0.0), orientation=(0.0, 0.0, 0.2), size=(0.0132, 0.0132, 0.0132) ), }, { "label_ref": "person_008", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.8, 0.8, 0.8) ), }, ], }, "scene-1100": { 0: { "label_ref": "person_009", "coordinates": CuboidCoordinates( position=(0.4, 0.4, 0.0), orientation=(0.0, 0.0, 0.4), size=(0.012, 0.012, 0.012) ), }, 3: [ { "label_ref": "person_010", "coordinates": CuboidCoordinates( position=(0.4, 0.4, 0.0), orientation=(0.0, 0.0, 0.4), size=(0.5, 0.5, 0.5) ), }, { "label_ref": "person_011", "coordinates": CuboidCoordinates( position=(0.3, 0.3, 0.0), orientation=(0.0, 0.0, 0.3), size=(0.13, 0.13, 0.13) ), }, { "label_ref": "person_012", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.9, 0.9, 0.9) ), }, ], }, "scene-0655": { 13: [ { "label_ref": "person_013", "coordinates": CuboidCoordinates( position=(0.5, 0.5, 0.0), orientation=(0.0, 0.0, 0.5), size=(0.11, 0.11, 0.11) ), }, { "label_ref": "person_014", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.2), size=(0.6, 0.6, 0.6) ), }, { "label_ref": "person_015", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.8, 0.8, 0.8) ), }, ], 14: [ { "label_ref": "person_016", "coordinates": CuboidCoordinates( position=(0.5, 0.5, 0.0), orientation=(0.0, 0.0, 0.5), size=(0.3, 0.3, 0.3) ), }, { "label_ref": "person_014", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.2), size=(0.6, 0.6, 0.6) ), }, { "label_ref": "person_017", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.8, 0.8, 0.8) ), }, ], 15: [ { "label_ref": "person_016", "coordinates": CuboidCoordinates( position=(0.5, 0.5, 0.0), orientation=(0.0, 0.0, 0.5), size=(0.1, 0.1, 0.1) ), }, { "label_ref": "person_014", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.2), size=(0.6, 0.6, 0.6) ), }, { "label_ref": "person_017", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.8, 0.8, 0.8) ), }, ], }, } # Initialize label rows label_row_map = {} with project.create_bundle(bundle_size=BUNDLE_SIZE) as bundle: for data_title in pcd_labels.keys(): rows = project.list_label_rows_v2(data_title_eq=data_title) if not rows: print(f"Skipping: No label row found for {data_title}") continue lr = rows[0] lr.initialise_labels(bundle=bundle) label_row_map[data_title] = lr # Create instances label_rows_to_save = [] for data_title, frames in pcd_labels.items(): lr = label_row_map.get(data_title) if not lr: continue instances_by_ref = {} for frame_no, items in frames.items(): # normalize to list items = items if isinstance(items, list) else [items] for item in items: ref = item["label_ref"] coords = item["coordinates"] if ref not in instances_by_ref: instances_by_ref[ref] = cuboid_ontology_object.create_instance() instances_by_ref[ref].set_for_frames(coordinates=coords, frames=frame_no) # Add only instances that have at least one frame for inst in instances_by_ref.values(): if inst.get_annotation_frames(): lr.add_object_instance(inst) label_rows_to_save.append(lr) # Save all label rows with project.create_bundle(bundle_size=BUNDLE_SIZE) as bundle: for lr in label_rows_to_save: lr.save(bundle=bundle) print(f"Saved label row for {lr.data_title}") ``` ```python Cuboids - Advanced expandable theme={"dark"} # Import dependencies from encord import EncordUserClient, Project from encord.objects import ChecklistAttribute, Object, ObjectInstance, Option, RadioAttribute, TextAttribute from encord.objects.attributes import NumericAttribute from encord.objects.coordinates import CuboidCoordinates # User input SSH_PATH = "/Users/chris-encord/ssh-private-key.txt" # Replace with the file path to your SSH private key PROJECT_ID = "00000000-0000-0000-0000-000000000000" # Replace with the unique ID for the Project BUNDLE_SIZE = 100 # Create user client using ssh key user_client: EncordUserClient = EncordUserClient.create_with_ssh_private_key( ssh_private_key_path=SSH_PATH, # For US platform users use "https://api.us.encord.com" domain="https://api.encord.com", ) # Get project for which labels are to be added project: Project = user_client.get_project(PROJECT_ID) # Create radio button attribute for Person type ontology_structure = project.ontology_structure # Find a cuboid annotation object in the project ontology cuboid_ontology_object: Object = ontology_structure.get_child_by_title(title="Person", type_=Object) assert cuboid_ontology_object is not None, "Cuboid object 'Person' not found in ontology." person_type_radio_attribute = ontology_structure.get_child_by_title(type_=RadioAttribute, title="Type?") assert person_type_radio_attribute is not None, "Radio attribute 'Type?' not found in ontology." # Create options for the radio buttons adult_option = person_type_radio_attribute.get_child_by_title(type_=Option, title="Adult") adolescent_option = person_type_radio_attribute.get_child_by_title(type_=Option, title="Adolescent") child_option = person_type_radio_attribute.get_child_by_title(type_=Option, title="Child") other_person_option = person_type_radio_attribute.get_child_by_title(type_=Option, title="Other Person type") assert all([adult_option, adolescent_option, child_option, other_person_option]), ( "One or more Person type options are missing." ) # Adult Qualities adult_checklist_attribute = ontology_structure.get_child_by_title(type_=ChecklistAttribute, title="Adult Qualities?") assert adult_checklist_attribute is not None, "Checklist attribute 'Adult Qualities?' not found." adult_moving_option = adult_checklist_attribute.get_child_by_title(type_=Option, title="Moving") adult_well_lit_option = adult_checklist_attribute.get_child_by_title(type_=Option, title="Well lit") adult_fully_visible_option = adult_checklist_attribute.get_child_by_title(type_=Option, title="Fully visible") assert all([adult_moving_option, adult_well_lit_option, adult_fully_visible_option]), ( "One or more Adult quality options are missing." ) # Adolescent Qualities adolescent_checklist_attribute = ontology_structure.get_child_by_title( type_=ChecklistAttribute, title="Adolescent Qualities?" ) assert adolescent_checklist_attribute is not None, "Checklist attribute 'Adolescent Qualities?' not found." adolescent_moving_option = adolescent_checklist_attribute.get_child_by_title(type_=Option, title="Moving") adolescent_well_lit_option = adolescent_checklist_attribute.get_child_by_title(type_=Option, title="Well lit") adolescent_fully_visible_option = adolescent_checklist_attribute.get_child_by_title(type_=Option, title="Fully visible") assert all([adolescent_moving_option, adolescent_well_lit_option, adolescent_fully_visible_option]), ( "One or more Adolescent quality options are missing." ) # Child Qualities child_checklist_attribute = ontology_structure.get_child_by_title(type_=ChecklistAttribute, title="Child Qualities?") assert child_checklist_attribute is not None, "Checklist attribute 'Child Qualities?' not found." child_moving_option = child_checklist_attribute.get_child_by_title(type_=Option, title="Moving") child_well_lit_option = child_checklist_attribute.get_child_by_title(type_=Option, title="Well lit") child_fully_visible_option = child_checklist_attribute.get_child_by_title(type_=Option, title="Fully visible") assert all([child_moving_option, child_well_lit_option, child_fully_visible_option]), ( "One or more Child quality options are missing." ) # Other Person Types other_person_option_text_attribute = ontology_structure.get_child_by_title( type_=TextAttribute, title="Specify Person type" ) assert other_person_option_text_attribute is not None, "Text attribute 'Specify Person type' not found in ontology." # Dictionary of labels per data unit and per frame with Person type specified, including quality options pcd_labels = { "scene-1094": { 0: { "label_ref": "person_001", "coordinates": CuboidCoordinates(position=(9, 9, 9), orientation=(0.11, 0.77, 0.33), size=(0.2, 0.2, 0.2)), "person_type": "Adult", "adult_quality_options": "Moving, Well lit", } }, "scene-0916": { 0: [ { "label_ref": "person_002", "coordinates": CuboidCoordinates( position=(0.4, 0.4, 0.4), orientation=(0.0, 0.0, 0.4), size=(0.1, 0.1, 0.1) ), "person_type": "Adolescent", "adolescent_quality_options": "Moving, Well lit, Fully visible", }, { "label_ref": "person_003", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.5, 0.5, 0.5) ), "person_type": "Child", "child_quality_options": "Moving", }, { "label_ref": "person_004", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.7, 0.7, 0.7) ), "person_type": "Other Person type", "Specify Person type": "Person with a baby stroller", }, ], }, "scene-0796": { 0: { "label_ref": "person_005", "coordinates": CuboidCoordinates( position=(0.4, 0.4, 0.0), orientation=(0.0, 0.0, 0.4), size=(0.12, 0.12, 0.12) ), "person_type": "Adult", "adult_quality_options": "Moving, Well lit", }, 2: [ { "label_ref": "person_006", "coordinates": CuboidCoordinates( position=(0.1, 0.1, 0.0), orientation=(0.0, 0.0, 0.2), size=(0.5, 0.5, 0.5) ), "person_type": "Adolescent", "adolescent_quality_options": "Fully visible", }, { "label_ref": "person_007", "coordinates": CuboidCoordinates( position=(0.1, 0.1, 0.0), orientation=(0.0, 0.0, 0.2), size=(0.0132, 0.0132, 0.0132) ), "person_type": "Child", "child_quality_options": "Moving", }, { "label_ref": "person_008", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.8, 0.8, 0.8) ), "person_type": "Other Person type", "Specify Person type": "Person with a baby stroller", }, ], }, "scene-1100": { 0: { "label_ref": "person_009", "coordinates": CuboidCoordinates( position=(0.4, 0.4, 0.0), orientation=(0.0, 0.0, 0.4), size=(0.012, 0.012, 0.012) ), "person_type": "Adult", "adult_quality_options": "Moving", }, 3: [ { "label_ref": "person_010", "coordinates": CuboidCoordinates( position=(0.4, 0.4, 0.0), orientation=(0.0, 0.0, 0.4), size=(0.5, 0.5, 0.5) ), "person_type": "Adolescent", "adolescent_quality_options": "Moving, Well lit, Fully visible", }, { "label_ref": "person_011", "coordinates": CuboidCoordinates( position=(0.3, 0.3, 0.0), orientation=(0.0, 0.0, 0.3), size=(0.13, 0.13, 0.13) ), "person_type": "Child", "child_quality_options": "Moving", }, { "label_ref": "person_012", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.9, 0.9, 0.9) ), "person_type": "Other Person type", "Specify Person type": "Person with a baby stroller", }, ], }, "scene-0655": { 13: [ { "label_ref": "person_013", "coordinates": CuboidCoordinates( position=(0.5, 0.5, 0.0), orientation=(0.0, 0.0, 0.5), size=(0.11, 0.11, 0.11) ), "person_type": "Child", "child_quality_options": "Moving", }, { "label_ref": "person_014", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.2), size=(0.6, 0.6, 0.6) ), "person_type": "Adult", "adult_quality_options": "Moving, Well lit, Fully visible", }, { "label_ref": "person_015", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.8, 0.8, 0.8) ), "person_type": "Other Person type", "Specify Person type": "Person walking a dog", }, ], 14: [ { "label_ref": "person_016", "coordinates": CuboidCoordinates( position=(0.5, 0.5, 0.0), orientation=(0.0, 0.0, 0.5), size=(0.3, 0.3, 0.3) ), "person_type": "Child", "child_quality_options": "Moving", }, { "label_ref": "person_014", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.2), size=(0.6, 0.6, 0.6) ), "person_type": "Adult", "adult_quality_options": "Moving, Well lit, Fully visible", }, { "label_ref": "person_017", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.8, 0.8, 0.8) ), "person_type": "Other Person type", "Specify Person type": "Person walking a dog", }, ], 15: [ { "label_ref": "person_016", "coordinates": CuboidCoordinates( position=(0.5, 0.5, 0.0), orientation=(0.0, 0.0, 0.5), size=(0.1, 0.1, 0.1) ), "person_type": "Child", "child_quality_options": "Moving", }, { "label_ref": "person_014", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.2), size=(0.6, 0.6, 0.6) ), "person_type": "Adult", "adult_quality_options": "Moving, Well lit, Fully visible", }, { "label_ref": "person_017", "coordinates": CuboidCoordinates( position=(0.2, 0.2, 0.0), orientation=(0.0, 0.0, 0.1), size=(0.8, 0.8, 0.8) ), "person_type": "Other Person type", "Specify Person type": "Person walking a dog", }, ], }, } # Cache initialized label rows label_row_map = {} # Step 1: Initialize all label rows using a bundle with project.create_bundle(bundle_size=BUNDLE_SIZE) as bundle: for data_unit in pcd_labels.keys(): label_rows = project.list_label_rows_v2(data_title_eq=data_unit) assert isinstance(label_rows, list), f"Expected list of label rows for '{data_unit}', got {type(label_rows)}" if not label_rows: print(f"Skipping: No label row found for {data_unit}") continue label_row = label_rows[0] label_row.initialise_labels(bundle=bundle) assert label_row.ontology_structure is not None, f"Ontology not initialized for label row: {data_unit}" label_row_map[data_unit] = label_row # Cache initialized label row for later use # Step 2: Process all frames/annotations and prepare label rows to save label_rows_to_save = [] for data_unit, frame_coordinates in pcd_labels.items(): label_row = label_row_map.get(data_unit) if not label_row: print(f"Skipping: No initialized label row found for {data_unit}") continue object_instances_by_label_ref = {} # Loop through the frames for the current data unit for frame_number, items in frame_coordinates.items(): assert isinstance(frame_number, int), f"Frame number must be int, got {type(frame_number)}" if not isinstance(items, list): items = [items] for item in items: label_ref = item["label_ref"] coord = item["coordinates"] person_type = item["person_type"] assert person_type in { "Adult", "Adolescent", "Child", "Other Person type", }, f"Unexpected Person type '{person_type}' in data unit '{data_unit}'" # Check if label_ref already exists for reusability if label_ref not in object_instances_by_label_ref: cuboid_object_instance: ObjectInstance = cuboid_ontology_object.create_instance() assert cuboid_object_instance is not None, "Failed to create ObjectInstance" object_instances_by_label_ref[label_ref] = cuboid_object_instance checklist_attribute = None # Set Person type attribute if person_type == "Adult": assert adult_option is not None, "Missing 'adult_option'" cuboid_object_instance.set_answer(attribute=person_type_radio_attribute, answer=adult_option) checklist_attribute = adult_checklist_attribute elif person_type == "Adolescent": assert adolescent_option is not None, "Missing 'adolescent_option'" cuboid_object_instance.set_answer(attribute=person_type_radio_attribute, answer=adolescent_option) checklist_attribute = adolescent_checklist_attribute elif person_type == "Child": assert child_option is not None, "Missing 'child_option'" cuboid_object_instance.set_answer(attribute=person_type_radio_attribute, answer=child_option) checklist_attribute = child_checklist_attribute elif person_type == "Other Person type": assert other_person_option is not None, "Missing 'other_person_option'" cuboid_object_instance.set_answer(attribute=person_type_radio_attribute, answer=other_person_option) text_answer = item.get("Specify Person type", "") assert isinstance(text_answer, str), "'Specify Person type' must be a string" cuboid_object_instance.set_answer(attribute=other_person_option_text_attribute, answer=text_answer) # Set checklist attributes checklist_answers = [] quality_key = f"{person_type.lower()}_quality_options" quality_options = item.get(quality_key, "").split(", ") for quality in quality_options: if quality == "Moving": checklist_answers.append( adult_moving_option if person_type == "Adult" else adolescent_moving_option if person_type == "Adolescent" else child_moving_option ) elif quality == "Well lit": checklist_answers.append( adult_well_lit_option if person_type == "Adult" else adolescent_well_lit_option if person_type == "Adolescent" else child_well_lit_option ) elif quality == "Fully visible": checklist_answers.append( adult_fully_visible_option if person_type == "Adult" else adolescent_fully_visible_option if person_type == "Adolescent" else child_fully_visible_option ) if checklist_attribute and checklist_answers: cuboid_object_instance.set_answer( attribute=checklist_attribute, answer=checklist_answers, overwrite=True ) else: # Reuse existing instance across frames cuboid_object_instance = object_instances_by_label_ref[label_ref] # Assign the object to the frame and track it cuboid_object_instance.set_for_frames(coordinates=coord, frames=frame_number) # Add object instances to label_row **only if they have frames assigned** for cuboid_object_instance in object_instances_by_label_ref.values(): assert isinstance(cuboid_object_instance, ObjectInstance), "Expected ObjectInstance type" if cuboid_object_instance.get_annotation_frames(): # Ensures it has at least one frame label_row.add_object_instance(cuboid_object_instance) label_rows_to_save.append(label_row) # Step 3: Save all label rows using a bundle with project.create_bundle(bundle_size=BUNDLE_SIZE) as bundle: for label_row in label_rows_to_save: assert label_row is not None, "Trying to save a None label row" label_row.save(bundle=bundle) print(f"Saved label row for {label_row.data_title}") print("Labels with Person type radio buttons, checklist attributes, and text labels added for all data units.") ``` ## Polylines 3D **Basic** This example includes the following: * Cuboid labeling **Advanced** This example includes the following: * Polyline 3D labeling * Radio button options * Checklist options * Text input **Polyline Ontology** ![Polyline 3D Ontology](https://storage.googleapis.com/docs-media.encord.com/static/img/ontologies/ontology-pcd-polylines.png) ```python 3D Polylines - Basic expandable theme={"dark"} # Import dependencies from encord import EncordUserClient, Project from encord.objects import Object from encord.objects.coordinates import PointCoordinate3D, PolylineCoordinates # User input SSH_PATH = "/Users/chris-encord/ssh-private-key.txt" # Replace with the file path to your SSH private key PROJECT_ID = "00000000-0000-0000-0000-000000000000" # Replace with the unique ID for the Project BUNDLE_SIZE = 100 # Create user client using ssh key user_client: EncordUserClient = EncordUserClient.create_with_ssh_private_key( ssh_private_key_path=SSH_PATH, # For US platform users use "https://api.us.encord.com" domain="https://api.encord.com", ) # Get project for which labels are to be added project: Project = user_client.get_project(PROJECT_ID) # Get the ontology ontology_structure = project.ontology_structure # Find a polyline annotation object in the project ontology polyline_ontology_object: Object = ontology_structure.get_child_by_title(title="Object of Interest", type_=Object) assert polyline_ontology_object is not None, "Polyline object 'Object of Interest' not found in ontology." # Dictionary of labels per data unit and per frame with Object of Interest pcd_labels = { "scene-1094": { 0: { "label_ref": "ooi_001", "coordinates": PolylineCoordinates( [ PointCoordinate3D(2.013, 2.02, 2.015), PointCoordinate3D(3.033, 3.033, 3.033), PointCoordinate3D(4.053, 4.023, 4.017), PointCoordinate3D(0.043, 0.013, 0.043), ] ), } }, "scene-0916": { 0: [ { "label_ref": "ooi_002", "coordinates": PolylineCoordinates( [ PointCoordinate3D(3.000, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 3.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), }, { "label_ref": "ooi_003", "coordinates": PolylineCoordinates( [ PointCoordinate3D(4.300, 5.300, 0.000), PointCoordinate3D(6.300, 6.300, 0.000), PointCoordinate3D(8.300, 5.300, 0.000), PointCoordinate3D(7.300, 4.300, 0.000), ] ), }, { "label_ref": "ooi_004", "coordinates": PolylineCoordinates( [ PointCoordinate3D(7.300, 2.300, 0.000), PointCoordinate3D(9.300, 3.300, 0.000), PointCoordinate3D(11.300, 2.300, 0.000), PointCoordinate3D(10.300, 1.300, 0.000), ] ), }, ], }, "scene-0796": { 0: { "label_ref": "ooi_005", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.300, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 2.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), }, 2: [ { "label_ref": "ooi_006", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.300, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 2.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), }, { "label_ref": "ooi_007", "coordinates": PolylineCoordinates( [ PointCoordinate3D(4.300, 5.300, 0.000), PointCoordinate3D(6.300, 6.300, 0.000), PointCoordinate3D(8.300, 5.300, 0.000), PointCoordinate3D(7.300, 4.300, 0.000), ] ), }, { "label_ref": "ooi_008", "coordinates": PolylineCoordinates( [ PointCoordinate3D(7.300, 2.300, 0.000), PointCoordinate3D(9.300, 3.300, 0.000), PointCoordinate3D(11.300, 2.300, 0.000), PointCoordinate3D(10.300, 1.300, 0.000), ] ), }, ], }, "scene-1100": { 0: { "label_ref": "ooi_009", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.300, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 2.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), }, 3: [ { "label_ref": "ooi_010", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.300, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 2.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), }, { "label_ref": "ooi_011", "coordinates": PolylineCoordinates( [ PointCoordinate3D(4.300, 5.300, 0.000), PointCoordinate3D(6.300, 6.300, 0.000), PointCoordinate3D(8.300, 5.300, 0.000), PointCoordinate3D(7.300, 4.300, 0.000), ] ), }, { "label_ref": "ooi_012", "coordinates": PolylineCoordinates( [ PointCoordinate3D(7.300, 2.300, 0.000), PointCoordinate3D(9.300, 3.300, 0.000), PointCoordinate3D(11.300, 2.300, 0.000), PointCoordinate3D(10.300, 1.300, 0.000), ] ), }, ], }, "scene-0655": { 103: [ { "label_ref": "ooi_013", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.300, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 2.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), }, { "label_ref": "ooi_014", "coordinates": PolylineCoordinates( [ PointCoordinate3D(4.300, 5.300, 0.000), PointCoordinate3D(6.300, 6.300, 0.000), PointCoordinate3D(8.300, 5.300, 0.000), PointCoordinate3D(7.300, 4.300, 0.000), ] ), }, { "label_ref": "ooi_015", "coordinates": PolylineCoordinates( [ PointCoordinate3D(7.300, 2.300, 0.000), PointCoordinate3D(9.300, 3.300, 0.000), PointCoordinate3D(11.300, 2.300, 0.000), PointCoordinate3D(10.300, 1.300, 0.000), ] ), }, ], 104: [ { "label_ref": "ooi_016", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.300, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 2.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), }, { "label_ref": "ooi_014", "coordinates": PolylineCoordinates( [ PointCoordinate3D(4.130, 5.230, 0.000), PointCoordinate3D(6.130, 6.230, 0.000), PointCoordinate3D(8.130, 5.230, 0.000), PointCoordinate3D(7.130, 4.230, 0.000), ] ), }, { "label_ref": "ooi_017", "coordinates": PolylineCoordinates( [ PointCoordinate3D(7.300, 2.300, 0.000), PointCoordinate3D(9.300, 3.300, 0.000), PointCoordinate3D(11.300, 2.300, 0.000), PointCoordinate3D(10.300, 1.300, 0.000), ] ), }, ], 105: [ { "label_ref": "ooi_016", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.130, 2.230, 0.000), PointCoordinate3D(3.130, 3.230, 0.000), PointCoordinate3D(5.130, 2.230, 0.000), PointCoordinate3D(4.130, 1.230, 0.000), ] ), }, { "label_ref": "ooi_014", "coordinates": PolylineCoordinates( [ PointCoordinate3D(4.330, 5.530, 0.000), PointCoordinate3D(6.330, 6.530, 0.000), PointCoordinate3D(8.330, 5.530, 0.000), PointCoordinate3D(7.330, 4.530, 0.000), ] ), }, { "label_ref": "ooi_017", "coordinates": PolylineCoordinates( [ PointCoordinate3D(7.130, 2.230, 0.000), PointCoordinate3D(9.130, 3.230, 0.000), PointCoordinate3D(11.130, 2.230, 0.000), PointCoordinate3D(10.130, 1.230, 0.000), ] ), }, ], }, } # Initialize label rows label_row_map = {} with project.create_bundle(bundle_size=BUNDLE_SIZE) as bundle: for data_title in pcd_labels.keys(): rows = project.list_label_rows_v2(data_title_eq=data_title) if not rows: print(f"Skipping: No label row found for {data_title}") continue lr = rows[0] lr.initialise_labels(bundle=bundle) label_row_map[data_title] = lr # Create instances label_rows_to_save = [] for data_title, frames in pcd_labels.items(): lr = label_row_map.get(data_title) if not lr: continue instances_by_ref = {} for frame_no, items in frames.items(): # normalize to list items = items if isinstance(items, list) else [items] for item in items: ref = item["label_ref"] coords = item["coordinates"] if ref not in instances_by_ref: instances_by_ref[ref] = polyline_ontology_object.create_instance() instances_by_ref[ref].set_for_frames(coordinates=coords, frames=frame_no) # Add only instances that have at least one frame for inst in instances_by_ref.values(): if inst.get_annotation_frames(): lr.add_object_instance(inst) label_rows_to_save.append(lr) # Save all label rows with project.create_bundle(bundle_size=BUNDLE_SIZE) as bundle: for lr in label_rows_to_save: lr.save(bundle=bundle) print(f"Saved label row for {lr.data_title}") ``` ```python 3D Polylines - Advanced expandable theme={"dark"} # Import dependencies from pathlib import Path from encord import EncordUserClient, Project from encord.objects import ( ChecklistAttribute, NumberAttribute, Object, ObjectInstance, Option, RadioAttribute, TextAttribute, ) from encord.objects.attributes import NumericAttribute from encord.objects.coordinates import PointCoordinate3D, PolylineCoordinates # User input SSH_PATH = "/Users/chris-encord/ssh-private-key.txt" # Replace with the file path to your SSH private key PROJECT_ID = "00000000-0000-0000-0000-000000000000" # Replace with the unique ID for the Project BUNDLE_SIZE = 100 # Create user client using ssh key user_client: EncordUserClient = EncordUserClient.create_with_ssh_private_key( ssh_private_key_path=SSH_PATH, # For US platform users use "https://api.us.encord.com" domain="https://api.encord.com", ) # Get project for which labels are to be added project: Project = user_client.get_project(PROJECT_ID) assert project is not None, "Project not found — check PROJECT_ID" # Get ontology structure ontology_structure = project.ontology_structure assert ontology_structure is not None, "Ontology structure is missing in the project" # Get polyline object for Object of Interest polyline_ontology_object: Object = ontology_structure.get_child_by_title(title="Object of Interest", type_=Object) assert polyline_ontology_object is not None, "Polyline object 'Object of Interest' not found in ontology" # Get radio attribute for Object of Interest type ooi_type_radio_attribute = ontology_structure.get_child_by_title(type_=RadioAttribute, title="Type?") assert ooi_type_radio_attribute is not None, "Radio attribute 'Type?' not found in ontology" # Get radio options curb_option = ooi_type_radio_attribute.get_child_by_title(type_=Option, title="Curb") assert curb_option is not None, "Option 'Curb' not found under radio attribute 'Type?'" lane_divider_option = ooi_type_radio_attribute.get_child_by_title(type_=Option, title="Lane divider") assert lane_divider_option is not None, "Option 'Lane divider' not found under radio attribute 'Type?'" zebra_crossing_option = ooi_type_radio_attribute.get_child_by_title(type_=Option, title="Zebra crossing") assert zebra_crossing_option is not None, "Option 'Zebra crossing' not found under radio attribute 'Type?'" other_ooi_option = ooi_type_radio_attribute.get_child_by_title(type_=Option, title="Other") assert other_ooi_option is not None, "Option 'Other' not found under radio attribute 'Type?'" # Curb Qualities curb_checklist_attribute = ontology_structure.get_child_by_title(type_=ChecklistAttribute, title="Qualities?") assert curb_checklist_attribute is not None, "Checklist attribute 'Qualities?' not found" curb_good_quality_option = curb_checklist_attribute.get_child_by_title(type_=Option, title="Good quality") assert curb_good_quality_option is not None, "Option 'Good quality' not found under 'Qualities?'" curb_well_lit_option = curb_checklist_attribute.get_child_by_title(type_=Option, title="Well lit") assert curb_well_lit_option is not None, "Option 'Well lit' not found under 'Qualities?'" curb_fully_visible_option = curb_checklist_attribute.get_child_by_title(type_=Option, title="Fully visible") assert curb_fully_visible_option is not None, "Option 'Fully visible' not found under 'Curb Qualities?'" # Lane divider Qualities lane_divider_checklist_attribute = ontology_structure.get_child_by_title( type_=ChecklistAttribute, title="Lane divider Qualities?" ) assert lane_divider_checklist_attribute is not None, "Checklist attribute 'Lane divider Qualities?' not found" lane_divider_good_quality_option = lane_divider_checklist_attribute.get_child_by_title( type_=Option, title="Good quality" ) assert lane_divider_good_quality_option is not None, "Option 'Good quality' not found under 'Lane divider Qualities?'" lane_divider_well_lit_option = lane_divider_checklist_attribute.get_child_by_title(type_=Option, title="Well lit") assert lane_divider_well_lit_option is not None, "Option 'Well lit' not found under 'Lane divider Qualities?'" lane_divider_fully_visible_option = lane_divider_checklist_attribute.get_child_by_title( type_=Option, title="Fully visible" ) assert lane_divider_fully_visible_option is not None, "Option 'Fully visible' not found under 'Lane divider Qualities?'" # Zebra crossing Qualities zebra_crossing_checklist_attribute = ontology_structure.get_child_by_title( type_=ChecklistAttribute, title="Zebra crossing Qualities?" ) assert zebra_crossing_checklist_attribute is not None, "Checklist attribute 'Zebra crossing Qualities?' not found" zebra_crossing_good_quality_option = zebra_crossing_checklist_attribute.get_child_by_title( type_=Option, title="Good quality" ) assert zebra_crossing_good_quality_option is not None, ( "Option 'Good quality' not found under 'Zebra crossing Qualities?'" ) zebra_crossing_well_lit_option = zebra_crossing_checklist_attribute.get_child_by_title(type_=Option, title="Well lit") assert zebra_crossing_well_lit_option is not None, "Option 'Well lit' not found under 'Zebra crossing Qualities?'" zebra_crossing_fully_visible_option = zebra_crossing_checklist_attribute.get_child_by_title( type_=Option, title="Fully visible" ) assert zebra_crossing_fully_visible_option is not None, ( "Option 'Fully visible' not found under 'Zebra crossing Qualities?'" ) # Other text attribute other_ooi_option_text_attribute = ontology_structure.get_child_by_title(type_=TextAttribute, title="Specify type") assert other_ooi_option_text_attribute is not None, "Text attribute 'Specify type' not found" # Dictionary of labels per data unit and per frame with type specified, including quality options pcd_labels = { "scene-1094": { 0: { "label_ref": "ooi_001", "coordinates": PolylineCoordinates( [ PointCoordinate3D(2.013, 2.02, 2.015), PointCoordinate3D(3.033, 3.033, 3.033), PointCoordinate3D(4.053, 4.023, 4.017), PointCoordinate3D(5.043, 5.013, 5.043), ] ), "ooi_type": "Curb", "curb_quality_options": "Good quality, Well lit", } }, "scene-0916": { 0: [ { "label_ref": "ooi_002", "coordinates": PolylineCoordinates( [ PointCoordinate3D(3.000, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 3.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), "ooi_type": "Lane divider", "lane_divider_quality_options": "Good quality, Well lit, Fully visible", }, { "label_ref": "ooi_003", "coordinates": PolylineCoordinates( [ PointCoordinate3D(4.300, 5.300, 0.000), PointCoordinate3D(6.300, 6.300, 0.000), PointCoordinate3D(8.300, 5.300, 0.000), PointCoordinate3D(7.300, 4.300, 0.000), ] ), "ooi_type": "Zebra crossing", "zebra_crossing_quality_options": "Good quality", }, { "label_ref": "ooi_004", "coordinates": PolylineCoordinates( [ PointCoordinate3D(7.300, 2.300, 0.000), PointCoordinate3D(9.300, 3.300, 0.000), PointCoordinate3D(11.300, 2.300, 0.000), PointCoordinate3D(10.300, 1.300, 0.000), ] ), "ooi_type": "Other", "Type": "Cane", }, ], }, "scene-0796": { 0: { "label_ref": "ooi_005", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.300, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 2.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), "ooi_type": "Curb", "curb_quality_options": "Good quality, Well lit", }, 2: [ { "label_ref": "ooi_006", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.300, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 2.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), "ooi_type": "Lane divider", "lane_divider_quality_options": "Fully visible", }, { "label_ref": "ooi_007", "coordinates": PolylineCoordinates( [ PointCoordinate3D(4.300, 5.300, 0.000), PointCoordinate3D(6.300, 6.300, 0.000), PointCoordinate3D(8.300, 5.300, 0.000), PointCoordinate3D(7.300, 4.300, 0.000), ] ), "ooi_type": "Zebra crossing", "zebra_crossing_quality_options": "Good quality", }, { "label_ref": "ooi_008", "coordinates": PolylineCoordinates( [ PointCoordinate3D(7.300, 2.300, 0.000), PointCoordinate3D(9.300, 3.300, 0.000), PointCoordinate3D(11.300, 2.300, 0.000), PointCoordinate3D(10.300, 1.300, 0.000), ] ), "ooi_type": "Other", "Type": "Cane", }, ], }, "scene-1100": { 0: { "label_ref": "ooi_009", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.300, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 2.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), "ooi_type": "Curb", "curb_quality_options": "Good quality", }, 3: [ { "label_ref": "ooi_010", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.300, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 2.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), "ooi_type": "Lane divider", "lane_divider_quality_options": "Good quality, Well lit, Fully visible", }, { "label_ref": "ooi_011", "coordinates": PolylineCoordinates( [ PointCoordinate3D(4.300, 5.300, 0.000), PointCoordinate3D(6.300, 6.300, 0.000), PointCoordinate3D(8.300, 5.300, 0.000), PointCoordinate3D(7.300, 4.300, 0.000), ] ), "ooi_type": "Zebra crossing", "zebra_crossing_quality_options": "Good quality", }, { "label_ref": "ooi_012", "coordinates": PolylineCoordinates( [ PointCoordinate3D(7.300, 2.300, 0.000), PointCoordinate3D(9.300, 3.300, 0.000), PointCoordinate3D(11.300, 2.300, 0.000), PointCoordinate3D(10.300, 1.300, 0.000), ] ), "ooi_type": "Other", "Type": "Cane", }, ], }, "scene-0655": { 13: [ { "label_ref": "ooi_013", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.300, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 2.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), "ooi_type": "Zebra crossing", "zebra_crossing_quality_options": "Good quality", }, { "label_ref": "ooi_014", "coordinates": PolylineCoordinates( [ PointCoordinate3D(4.300, 5.300, 0.000), PointCoordinate3D(6.300, 6.300, 0.000), PointCoordinate3D(8.300, 5.300, 0.000), PointCoordinate3D(7.300, 4.300, 0.000), ] ), "ooi_type": "Curb", "curb_quality_options": "Good quality, Well lit, Fully visible", }, { "label_ref": "ooi_015", "coordinates": PolylineCoordinates( [ PointCoordinate3D(7.300, 2.300, 0.000), PointCoordinate3D(9.300, 3.300, 0.000), PointCoordinate3D(11.300, 2.300, 0.000), PointCoordinate3D(10.300, 1.300, 0.000), ] ), "ooi_type": "Other", "Type": "Cane", }, ], 14: [ { "label_ref": "ooi_016", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.300, 2.300, 0.000), PointCoordinate3D(3.300, 3.300, 0.000), PointCoordinate3D(5.300, 2.300, 0.000), PointCoordinate3D(4.300, 1.300, 0.000), ] ), "ooi_type": "Zebra crossing", "zebra_crossing_quality_options": "Good quality", }, { "label_ref": "ooi_014", "coordinates": PolylineCoordinates( [ PointCoordinate3D(4.130, 5.230, 0.000), PointCoordinate3D(6.130, 6.230, 0.000), PointCoordinate3D(8.130, 5.230, 0.000), PointCoordinate3D(7.130, 4.230, 0.000), ] ), "ooi_type": "Curb", "curb_quality_options": "Good quality, Well lit, Fully visible", }, { "label_ref": "ooi_017", "coordinates": PolylineCoordinates( [ PointCoordinate3D(7.300, 2.300, 0.000), PointCoordinate3D(9.300, 3.300, 0.000), PointCoordinate3D(11.300, 2.300, 0.000), PointCoordinate3D(10.300, 1.300, 0.000), ] ), "ooi_type": "Other", "Type": "Cane", }, ], 15: [ { "label_ref": "ooi_016", "coordinates": PolylineCoordinates( [ PointCoordinate3D(1.130, 2.230, 0.000), PointCoordinate3D(3.130, 3.230, 0.000), PointCoordinate3D(5.130, 2.230, 0.000), PointCoordinate3D(4.130, 1.230, 0.000), ] ), "ooi_type": "Zebra crossing", "zebra_crossing_quality_options": "Good quality", }, { "label_ref": "ooi_014", "coordinates": PolylineCoordinates( [ PointCoordinate3D(4.330, 5.530, 0.000), PointCoordinate3D(6.330, 6.530, 0.000), PointCoordinate3D(8.330, 5.530, 0.000), PointCoordinate3D(7.330, 4.530, 0.000), ] ), "ooi_type": "Curb", "curb_quality_options": "Good quality, Well lit, Fully visible", }, { "label_ref": "ooi_017", "coordinates": PolylineCoordinates( [ PointCoordinate3D(7.130, 2.230, 0.000), PointCoordinate3D(9.130, 3.230, 0.000), PointCoordinate3D(11.130, 2.230, 0.000), PointCoordinate3D(10.130, 1.230, 0.000), ] ), "ooi_type": "Other", "Type": "Cane", }, ], }, } # Cache label rows after initialization label_row_map = {} # Step 1: Initialize all label rows using a bundle with project.create_bundle(bundle_size=BUNDLE_SIZE) as bundle: for data_unit in pcd_labels.keys(): label_rows = project.list_label_rows_v2(data_title_eq=data_unit) assert isinstance(label_rows, list), f"Expected list of label rows for '{data_unit}', got {type(label_rows)}" if not label_rows: print(f"Skipping: No label row found for {data_unit}") continue label_row = label_rows[0] label_row.initialise_labels(bundle=bundle) assert label_row.ontology_structure is not None, f"Ontology not initialized for label row: {data_unit}" label_row_map[data_unit] = label_row # Cache the initialized label row # Step 2: Process all frame coordinates and prepare label rows for saving label_rows_to_save = [] for data_unit, frame_coordinates in pcd_labels.items(): label_row = label_row_map.get(data_unit) assert label_row is not None, f"Label row not initialized for {data_unit}" object_instances_by_label_ref = {} for frame_number, items in frame_coordinates.items(): assert isinstance(frame_number, int), f"Frame number must be int, got {type(frame_number)}" if not isinstance(items, list): items = [items] for item in items: label_ref = item["label_ref"] coord = item["coordinates"] ooi_type = item["ooi_type"] assert ooi_type in { "Curb", "Lane divider", "Zebra crossing", "Other", }, f"Unexpected type '{ooi_type}' in {data_unit}" if label_ref not in object_instances_by_label_ref: polyline_object_instance: ObjectInstance = polyline_ontology_object.create_instance() assert polyline_object_instance is not None, "Failed to create ObjectInstance" checklist_attribute = None quality_options = [] # Assign radio and checklist attributes based on the type if ooi_type == "Curb": assert curb_option is not None, "Missing 'curb_option'" polyline_object_instance.set_answer(attribute=ooi_type_radio_attribute, answer=curb_option) checklist_attribute = curb_checklist_attribute quality_options = [q.strip() for q in item.get("curb_quality_options", "").split(",") if q.strip()] elif ooi_type == "Lane divider": assert lane_divider_option is not None, "Missing 'lane_divider_option'" polyline_object_instance.set_answer(attribute=ooi_type_radio_attribute, answer=lane_divider_option) checklist_attribute = lane_divider_checklist_attribute quality_options = [ q.strip() for q in item.get("lane_divider_quality_options", "").split(",") if q.strip() ] elif ooi_type == "Zebra crossing": assert zebra_crossing_option is not None, "Missing 'zebra_crossing_option'" polyline_object_instance.set_answer( attribute=ooi_type_radio_attribute, answer=zebra_crossing_option ) checklist_attribute = zebra_crossing_checklist_attribute quality_options = [ q.strip() for q in item.get("zebra_crossing_quality_options", "").split(",") if q.strip() ] elif ooi_type == "Other": assert other_ooi_option is not None, "Missing 'other_ooi_option'" polyline_object_instance.set_answer(attribute=ooi_type_radio_attribute, answer=other_ooi_option) text_answer = item.get("Type", "") assert isinstance(text_answer, str), "'Type' must be a string" polyline_object_instance.set_answer(attribute=other_ooi_option_text_attribute, answer=text_answer) quality_options = [] # Process checklist options checklist_answers = [] for quality in quality_options: option = None if quality == "Good quality": option = ( curb_good_quality_option if ooi_type == "Curb" else lane_divider_good_quality_option if ooi_type == "Lane divider" else zebra_crossing_good_quality_option if ooi_type == "Zebra crossing" else None ) elif quality == "Well lit": option = ( curb_well_lit_option if ooi_type == "Curb" else lane_divider_well_lit_option if ooi_type == "Lane divider" else zebra_crossing_well_lit_option if ooi_type == "Zebra crossing" else None ) elif quality == "Fully visible": option = ( curb_fully_visible_option if ooi_type == "Curb" else lane_divider_fully_visible_option if ooi_type == "Lane divider" else zebra_crossing_fully_visible_option if ooi_type == "Zebra crossing" else None ) if option: checklist_answers.append(option) else: assert ooi_type == "Other", f"Invalid quality '{quality}' for type '{ooi_type}'" if checklist_attribute and checklist_answers: polyline_object_instance.set_answer( attribute=checklist_attribute, answer=checklist_answers, overwrite=True ) object_instances_by_label_ref[label_ref] = polyline_object_instance else: polyline_object_instance = object_instances_by_label_ref[label_ref] # Assign coordinates for this frame polyline_object_instance.set_for_frames(coordinates=coord, frames=frame_number) # Add object instances to the label row if they have frames assigned for polyline_object_instance in object_instances_by_label_ref.values(): assert isinstance(polyline_object_instance, ObjectInstance), "Expected ObjectInstance type" if polyline_object_instance.get_annotation_frames(): label_row.add_object_instance(polyline_object_instance) label_rows_to_save.append(label_row) # Step 3: Save all label rows using a bundle with project.create_bundle(bundle_size=BUNDLE_SIZE) as bundle: for label_row in label_rows_to_save: assert label_row is not None, "Trying to save a None label row" label_row.save(bundle=bundle) print(f"Saved label row for {label_row.data_title}") print("Labels with radio buttons, checklist attributes, and text labels added for all data units.") ``` ## Keypoints 3D **Basic** This example includes the following: * Cuboid labeling **Advanced** This example includes the following: * Keypoint 3D labeling * Radio button options * Checklist options * Text input **Keypoint Ontology** ![Keypoint 3D Ontology](https://storage.googleapis.com/docs-media.encord.com/static/img/ontologies/ontology-pcd-keypoints.png) ```python 3D Keypoints - Basic expandable theme={"dark"} # Import dependencies from encord import EncordUserClient, Project from encord.objects import Object from encord.objects.coordinates import PointCoordinate3D # User input SSH_PATH = "/Users/chris-encord/ssh-private-key.txt" # Replace with the file path to your SSH private key PROJECT_ID = "00000000-0000-0000-0000-000000000000" # Replace with the unique ID for the Project BUNDLE_SIZE = 100 # Create user client using ssh key user_client: EncordUserClient = EncordUserClient.create_with_ssh_private_key( ssh_private_key_path=SSH_PATH, # For US platform users use "https://api.us.encord.com" domain="https://api.encord.com", ) # Get project for which labels are to be added project: Project = user_client.get_project(PROJECT_ID) # Create radio button attribute for Person type ontology_structure = project.ontology_structure # Find a keypoint annotation object in the project ontology keypoint_ontology_object: Object = ontology_structure.get_child_by_title(title="Point of Interest", type_=Object) assert keypoint_ontology_object is not None, "Keypoint object 'Point of Interest' not found in ontology." # Dictionary of labels per data unit and per frame with Point of Interest pcd_labels = { "scene-1094": { 1: { "label_ref": "poi_001", "coordinates": PointCoordinate3D(x=0.01, y=0.02, z=0.03) } }, "scene-0916": { 1: [ { "label_ref": "poi_002", "coordinates": PointCoordinate3D(x=0.03, y=0.03, z=0.03) }, { "label_ref": "poi_003", "coordinates": PointCoordinate3D(x=0.5, y=0.4, z=0.3) }, { "label_ref": "poi_004", "coordinates": PointCoordinate3D(x=0.9, y=0.3, z=0.3) }, ], }, "scene-0796": { 0: { "label_ref": "poi_005", "coordinates": PointCoordinate3D(x=0.05, y=0.02, z=0.03) }, 2: [ { "label_ref": "poi_006", "coordinates": PointCoordinate3D(x=0.3, y=0.3, z=0.3) }, { "label_ref": "poi_007", "coordinates": PointCoordinate3D(x=0.4, y=0.5, z=0.3) }, { "label_ref": "poi_008", "coordinates": PointCoordinate3D(x=0.11, y=0.2, z=0.3) }, ], }, "scene-1100": { 0: { "label_ref": "poi_009", "coordinates": PointCoordinate3D(x=0.1, y=0.2, z=0.3) }, 3: [ { "label_ref": "poi_010", "coordinates": PointCoordinate3D(x=0.3, y=0.3, z=0.3) }, { "label_ref": "poi_011", "coordinates": PointCoordinate3D(x=0.8, y=0.5, z=0.3) }, { "label_ref": "poi_012", "coordinates": PointCoordinate3D(x=0.11, y=0.2, z=0.3) }, ], }, "scene-0655": { 1: [ { "label_ref": "poi_013", "coordinates": PointCoordinate3D(x=0.2, y=0.1, z=0.3) }, { "label_ref": "poi_014", "coordinates": PointCoordinate3D(x=0.6, y=0.6, z=0.3) }, { "label_ref": "poi_015", "coordinates": PointCoordinate3D(x=0.10, y=0.1, z=0.3) }, ], 2: [ { "label_ref": "poi_016", "coordinates": PointCoordinate3D(x=0.4, y=0.1, z=0.3) }, { "label_ref": "poi_014", "coordinates": PointCoordinate3D(x=0.8, y=0.5, z=0.3) }, { "label_ref": "poi_017", "coordinates": PointCoordinate3D(x=0.11, y=0.2, z=0.3) }, ], 3: [ { "label_ref": "poi_016", "coordinates": PointCoordinate3D(x=0.5, y=0.2, z=0.3) }, { "label_ref": "poi_014", "coordinates": PointCoordinate3D(x=0.7, y=0.4, z=0.3) }, { "label_ref": "poi_017", "coordinates": PointCoordinate3D(x=0.9, y=0.3, z=0.3) }, ], }, } # Initialize label rows label_row_map = {} with project.create_bundle(bundle_size=BUNDLE_SIZE) as bundle: for data_title in pcd_labels.keys(): rows = project.list_label_rows_v2(data_title_eq=data_title) if not rows: print(f"Skipping: No label row found for {data_title}") continue lr = rows[0] lr.initialise_labels(bundle=bundle) label_row_map[data_title] = lr # Create instances label_rows_to_save = [] for data_title, frames in pcd_labels.items(): lr = label_row_map.get(data_title) if not lr: continue instances_by_ref = {} for frame_no, items in frames.items(): # normalize to list items = items if isinstance(items, list) else [items] for item in items: ref = item["label_ref"] coords = item["coordinates"] if ref not in instances_by_ref: instances_by_ref[ref] = keypoint_ontology_object.create_instance() instances_by_ref[ref].set_for_frames(coordinates=coords, frames=frame_no) # Add only instances that have at least one frame for inst in instances_by_ref.values(): if inst.get_annotation_frames(): lr.add_object_instance(inst) label_rows_to_save.append(lr) # Save all label rows with project.create_bundle(bundle_size=BUNDLE_SIZE) as bundle: for lr in label_rows_to_save: lr.save(bundle=bundle) print(f"Saved label row for {lr.data_title}") ``` ```python 3D Keypoints - Advanced expandable theme={"dark"} # Import dependencies from pathlib import Path from encord import EncordUserClient, Project from encord.objects import ChecklistAttribute, Object, ObjectInstance, Option, RadioAttribute, TextAttribute from encord.objects.coordinates import PointCoordinate3D # User input SSH_PATH = "/Users/chris-encord/ssh-private-key.txt" # Replace with the file path to your SSH private key PROJECT_ID = "00000000-0000-0000-0000-000000000000" # Replace with the unique ID for the Project BUNDLE_SIZE = 100 # Create user client using ssh key user_client: EncordUserClient = EncordUserClient.create_with_ssh_private_key( ssh_private_key_path=SSH_PATH, # For US platform users use "https://api.us.encord.com" domain="https://api.encord.com", ) # Get project for which labels are to be added project: Project = user_client.get_project(PROJECT_ID) assert project is not None, "Project not found — check PROJECT_ID" # Get ontology structure ontology_structure = project.ontology_structure assert ontology_structure is not None, "Ontology structure is missing in the project" # Get keypoint object for Point of Interest keypoint_ontology_object: Object = ontology_structure.get_child_by_title(title="Point of Interest", type_=Object) assert keypoint_ontology_object is not None, "Keypoint object 'Point of Interest' not found in ontology" # Get radio attribute for Point of Interest type poi_type_radio_attribute = ontology_structure.get_child_by_title(type_=RadioAttribute, title="Type?") assert poi_type_radio_attribute is not None, "Radio attribute 'Type?' not found" # Get radio options sign_option = poi_type_radio_attribute.get_child_by_title(type_=Option, title="Sign") assert sign_option is not None, "Option 'Sign' not found under radio attribute 'Type?'" traffic_light_option = poi_type_radio_attribute.get_child_by_title(type_=Option, title="Traffic light") assert traffic_light_option is not None, "Option 'Traffic light' not found under radio attribute 'Type?'" other_poi_option = poi_type_radio_attribute.get_child_by_title(type_=Option, title="Other Point of Interest type") assert other_poi_option is not None, "Option 'Other Point of Interest type' not found under radio attribute 'Type?'" # Get checklist attributes and options for Sign sign_checklist_attribute = ontology_structure.get_child_by_title(type_=ChecklistAttribute, title="Sign Qualities?") assert sign_checklist_attribute is not None, "Checklist attribute 'Sign Qualities?' not found" sign_well_positioned_option = sign_checklist_attribute.get_child_by_title(type_=Option, title="Well positioned") assert sign_well_positioned_option is not None, "Option 'Well positioned' not found under 'Sign Qualities?'" sign_good_visibility_option = sign_checklist_attribute.get_child_by_title(type_=Option, title="Good visibility") assert sign_good_visibility_option is not None, "Option 'Good visibility' not found under 'Sign Qualities?'" sign_good_condition_option = sign_checklist_attribute.get_child_by_title( type_=Option, title="Good condition") assert sign_good_condition_option is not None, "Option 'Good condition' not found under 'Sign Qualities?'" # Get checklist attributes and options for Traffic light traffic_light_checklist_attribute = ontology_structure.get_child_by_title( type_=ChecklistAttribute, title="Traffic light Qualities?" ) assert traffic_light_checklist_attribute is not None, "Checklist attribute 'Traffic light Qualities?' not found" traffic_light_well_positioned_option = traffic_light_checklist_attribute.get_child_by_title( type_=Option, title="Well positioned" ) assert traffic_light_well_positioned_option is not None, "Option 'Well positioned' not found under 'Traffic light Qualities?'" traffic_light_good_visibility_option = traffic_light_checklist_attribute.get_child_by_title( type_=Option, title="Good visibility" ) assert traffic_light_good_visibility_option is not None, "Option 'Good visibility' not found under 'Traffic light Qualities?'" traffic_light_good_condition_option = traffic_light_checklist_attribute.get_child_by_title(type_=Option, title="Good condition") assert traffic_light_good_condition_option is not None, "Option 'Good condition' not found under 'Traffic light Qualities?'" # Get text attribute for specifying other Point of Interest types other_poi_option_text_attribute = ontology_structure.get_child_by_title( type_=TextAttribute, title="Specify Point of Interest type" ) assert other_poi_option_text_attribute is not None, "Text attribute 'Specify Point of Interest type' not found" # Dictionary of labels per data unit and per frame with Point of Interest type specified, including quality options pcd_labels = { "scene-1094": { 1: { "label_ref": "poi_001", "coordinates": PointCoordinate3D(x=0.01, y=0.02, z=0.03), "poi_type": "Sign", "sign_quality_options": "Well positioned, Good visibility, Good condition", } }, "scene-0916": { 1: [ { "label_ref": "poi_002", "coordinates": PointCoordinate3D(x=0.03, y=0.03, z=0.03), "poi_type": "Traffic light", "traffic_light_quality_options": "Well positioned, Good visibility, Good condition", }, { "label_ref": "poi_003", "coordinates": PointCoordinate3D(x=0.5, y=0.4, z=0.3), "poi_type": "Traffic light", "traffic_light_quality_options": "Good visibility", }, { "label_ref": "poi_004", "coordinates": PointCoordinate3D(x=0.9, y=0.3, z=0.3), "poi_type": "Other Point of Interest type", "Specify Point of Interest type": "Curb", }, ], }, "scene-0796": { 0: { "label_ref": "poi_005", "coordinates": PointCoordinate3D(x=0.05, y=0.02, z=0.03), "poi_type": "Sign", "sign_quality_options": "Well positioned, Good visibility, Good condition", }, 2: [ { "label_ref": "poi_006", "coordinates": PointCoordinate3D(x=0.3, y=0.3, z=0.3), "poi_type": "Sign", "sign_quality_options": "Good condition", }, { "label_ref": "poi_007", "coordinates": PointCoordinate3D(x=0.4, y=0.5, z=0.3), "poi_type": "Sign", "sign_quality_options": "Good visibility", }, { "label_ref": "poi_008", "coordinates": PointCoordinate3D(x=0.11, y=0.2, z=0.3), "poi_type": "Other Point of Interest type", "Specify Point of Interest type": "Post box", }, ], }, "scene-1100": { 0: { "label_ref": "poi_009", "coordinates": PointCoordinate3D(x=0.1, y=0.2, z=0.3), "poi_type": "Traffic light", "traffic_light_quality_options": "Well positioned, Good visibility, Good condition", }, 3: [ { "label_ref": "poi_010", "coordinates": PointCoordinate3D(x=0.3, y=0.3, z=0.3), "poi_type": "Traffic light", "traffic_light_quality_options": "Well positioned, Good visibility, Good condition", }, { "label_ref": "poi_011", "coordinates": PointCoordinate3D(x=0.8, y=0.5, z=0.3), "poi_type": "Traffic light", "traffic_light_quality_options": "Good condition", }, { "label_ref": "poi_012", "coordinates": PointCoordinate3D(x=0.11, y=0.2, z=0.3), "poi_type": "Other Point of Interest type", "Specify Point of Interest type": "Post box", }, ], }, "scene-0655": { 1: [ { "label_ref": "poi_013", "coordinates": PointCoordinate3D(x=0.2, y=0.1, z=0.3), "poi_type": "Sign", "sign_quality_options": "Good condition", }, { "label_ref": "poi_014", "coordinates": PointCoordinate3D(x=0.6, y=0.6, z=0.3), "poi_type": "Sign", "sign_quality_options": "Well positioned, Good visibility, Good condition", }, { "label_ref": "poi_015", "coordinates": PointCoordinate3D(x=0.10, y=0.1, z=0.3), "poi_type": "Other Point of Interest type", "Specify Point of Interest type": "Curb", }, ], 2: [ { "label_ref": "poi_016", "coordinates": PointCoordinate3D(x=0.4, y=0.1, z=0.3), "poi_type": "Sign", "sign_quality_options": "Good condition", }, { "label_ref": "poi_014", "coordinates": PointCoordinate3D(x=0.8, y=0.5, z=0.3), "poi_type": "Sign", "sign_quality_options": "Well positioned, Good visibility, Good condition", }, { "label_ref": "poi_017", "coordinates": PointCoordinate3D(x=0.11, y=0.2, z=0.3), "poi_type": "Other Point of Interest type", "Specify Point of Interest type": "Post box", }, ], 3: [ { "label_ref": "poi_016", "coordinates": PointCoordinate3D(x=0.5, y=0.2, z=0.3), "poi_type": "Sign", "sign_quality_options": "Good condition", }, { "label_ref": "poi_014", "coordinates": PointCoordinate3D(x=0.7, y=0.4, z=0.3), "poi_type": "Sign", "sign_quality_options": "Well positioned, Good visibility, Good condition", }, { "label_ref": "poi_017", "coordinates": PointCoordinate3D(x=0.9, y=0.3, z=0.3), "poi_type": "Other Point of Interest type", "Specify Point of Interest type": "Post box", }, ], }, } # Cache label rows after initialization label_row_map = {} # Step 1: Initialize all label rows using a bundle with project.create_bundle(bundle_size=BUNDLE_SIZE) as bundle: for data_unit in pcd_labels.keys(): label_rows = project.list_label_rows_v2(data_title_eq=data_unit) assert isinstance(label_rows, list), f"Expected list of label rows for '{data_unit}', got {type(label_rows)}" if not label_rows: print(f"Skipping: No label row found for {data_unit}") continue label_row = label_rows[0] label_row.initialise_labels(bundle=bundle) assert label_row.ontology_structure is not None, f"Ontology not initialized for label row: {data_unit}" label_row_map[data_unit] = label_row # Cache the initialized label row # Step 2: Process all frame coordinates and prepare label rows for saving label_rows_to_save = [] for data_unit, frame_coordinates in pcd_labels.items(): label_row = label_row_map.get(data_unit) assert label_row is not None, f"Label row not initialized for {data_unit}" object_instances_by_label_ref = {} for frame_number, items in frame_coordinates.items(): assert isinstance(frame_number, int), f"Frame number must be int, got {type(frame_number)}" if not isinstance(items, list): items = [items] for item in items: label_ref = item["label_ref"] coord = item["coordinates"] poi_type = item["poi_type"] assert poi_type in { "Sign", "Traffic light", "Other Point of Interest type", }, f"Unexpected type '{poi_type}' in {data_unit}" if label_ref not in object_instances_by_label_ref: keypoint_object_instance: ObjectInstance = keypoint_ontology_object.create_instance() assert keypoint_object_instance is not None, "Failed to create ObjectInstance" checklist_attribute = None quality_options = [] # Assign radio and checklist attributes based on the type if poi_type == "Sign": assert sign_option is not None, "Missing 'sign_type'" keypoint_object_instance.set_answer(attribute=poi_type_radio_attribute, answer=sign_option) checklist_attribute = sign_checklist_attribute quality_options = [q.strip() for q in item.get("sign_quality_options", "").split(",") if q.strip()] elif poi_type == "Traffic light": assert traffic_light_option is not None, "Missing 'lane_divider_option'" keypoint_object_instance.set_answer(attribute=poi_type_radio_attribute, answer=traffic_light_option) checklist_attribute = traffic_light_checklist_attribute quality_options = [ q.strip() for q in item.get("traffic_light_quality_options", "").split(",") if q.strip() ] elif poi_type == "Other Point of Interest type": assert other_poi_option is not None, "Missing 'other_ooi_option'" keypoint_object_instance.set_answer(attribute=poi_type_radio_attribute, answer=other_poi_option) text_answer = item.get("Type", "") assert isinstance(text_answer, str), "'Type' must be a string" keypoint_object_instance.set_answer(attribute=other_poi_option_text_attribute, answer=text_answer) quality_options = [] # Process checklist options checklist_answers = [] for quality in quality_options: option = None if quality == "Well positioned": option = ( sign_well_positioned_option if poi_type == "Sign" else traffic_light_well_positioned_option if poi_type == "Traffic light" else None ) elif quality == "Good visibility": option = ( sign_good_visibility_option if poi_type == "Sign" else traffic_light_good_visibility_option if poi_type == "Traffic light" else None ) elif quality == "Good condition": option = ( sign_good_condition_option if poi_type == "Sign" else traffic_light_good_condition_option if poi_type == "Traffic light" else None ) if option: checklist_answers.append(option) else: assert poi_type == "Other Point of Interest type", f"Invalid quality '{quality}' for type '{poi_type}'" if checklist_attribute and checklist_answers: keypoint_object_instance.set_answer( attribute=checklist_attribute, answer=checklist_answers, overwrite=True ) object_instances_by_label_ref[label_ref] = keypoint_object_instance else: keypoint_object_instance = object_instances_by_label_ref[label_ref] # Assign coordinates for this frame keypoint_object_instance.set_for_frames(coordinates=coord, frames=frame_number) # Add object instances to the label row if they have frames assigned for keypoint_object_instance in object_instances_by_label_ref.values(): assert isinstance(keypoint_object_instance, ObjectInstance), "Expected ObjectInstance type" if keypoint_object_instance.get_annotation_frames(): label_row.add_object_instance(keypoint_object_instance) label_rows_to_save.append(label_row) # Step 3: Save all label rows using a bundle with project.create_bundle(bundle_size=BUNDLE_SIZE) as bundle: for label_row in label_rows_to_save: assert label_row is not None, "Trying to save a None label row" label_row.save(bundle=bundle) print(f"Saved label row for {label_row.data_title}") print("Labels with radio buttons, checklist attributes, and text labels added for all data units.") ``` ## Segmentations COMING SOON!