Add label propagation

 - add a feature to carry over labels to the next point cloud
 - can be activated via config and menu action
 - will only copy labels if the next point cloud has no bounding boxes so far
 - add checkbox to settings dialog
 - add to documentation

Closes: #120

config.ini

@@ -45,6 +45,8 @@ std_rotation = 0.5
 std_scaling = 0.03
 ; minimum value for the length, width and height of a bounding box
 min_boundingbox_dimension = 0.01
+; propagate labels to next point cloud if it has no labels yet
+propagate_labels = False
 
 [USER_INTERFACE]
 ; only allow z-rotation of bounding boxes. set false to also label x- & y-rotation

docs/configuration.md

@@ -26,6 +26,7 @@ The following parameters can be changed:
 |       `std_rotation`        | Standard step for rotating the bounding box (with key press).                                   |         *0.5*          |
 |        `std_scaling`        | Standard step for scaling the bounding box (with button press).                                 |         *0.03*         |
 | `min_boundingbox_dimension` | Minimum value for the length, width and height of a bounding box.                               |         *0.01*         |
+|     `propagate_labels`      | Copy all bounding boxes of the current point cloud to the next point cloud (only forward).      |        *False*         |
 |    **[USER_INTERFACE]**     |
 |      `z_rotation_only`      | Only allow z-rotation of bounding box; deactivate to also label x- & y-rotation.                |         *True*         |
 |        `show_floor`         | Visualizes the floor (x-y-plane) as a grid.                                                     |         *True*         |

docs/index.md

@@ -7,10 +7,12 @@ labelCloud is a lightweight tool for labeling 3D bounding boxes in point clouds.
 It is written in Python and can be installed via `pip` (see [Setup](setup.md)).
 
 ## Labeling
-labelCloud supports two different ways of labeling (*picking* & *spanning*) as well as multiple mouse and keyboard options for subsequent correction.
+labelCloud supports two different ways of labeling (*picking* & *spanning*) as well as multiple
+mouse and keyboard options for subsequent correction.
 
 ![Screencast of the Labeling Methods](assets/screencast_small.gif)
-(There is also a [short YouTube-Video](https://www.youtube.com/watch?v=8GF9n1WeR8A) that introduces the tool.)
+(There is also a [short YouTube-Video](https://www.youtube.com/watch?v=8GF9n1WeR8A) that introduces
+the tool.)
 
 ### Picking Mode
 
@@ -24,16 +26,23 @@ labelCloud supports two different ways of labeling (*picking* & *spanning*) as w
 
 ### Correction
 
-* Use the buttons on the left-hand side or shortcuts to correct the *translation*, *dimension* and *rotation* of the bounding box
+* Use the buttons on the left-hand side or shortcuts to correct the *translation*, *dimension* and
+  *rotation* of the bounding box
 * Resize the bounding box by holding your cursor above one side and scrolling with the mouse wheel
 
 By default the x- and y-rotation of bounding boxes will be prohibited.
-For labeling **9 DoF-Bounding Boxes** deactivate `z-Rotation Only Mode` in the menu, settings or `config.ini` file.
-Now you will be free to rotate around all three axes.
+For labeling **9 DoF-Bounding Boxes** deactivate `z-Rotation Only Mode` in the menu, settings or
+`config.ini` file.
+Now you will be able to rotate around all three axes.
+
+If you have a point clouds with objects that keep their positions over multiple frames, you can
+activate the *Propagate Labels* feature in the Labels menu or `config.ini`.
 
 ## Import & Export Options
-labelCloud is built for a versatile use and aims at supporting all common point cloud file formats and label formats for storing 3D bounding boxes.
-The tool is designed to be easily adaptable to multiple use cases. To change the settings, simply edit the corresponding line in the `config.ini` (see [Configuration](configuration.md)) for a description of all parameters).
+labelCloud is built for a versatile use and aims at supporting all common point cloud file formats
+and label formats for storing 3D bounding boxes.
+The tool is designed to be easily adaptable to multiple use cases. To change the settings, simply
+edit the corresponding line in the `config.ini` (see [Configuration](configuration.md)) for a description of all parameters).
 
 ### Supported Point Cloud Formats
 
@@ -44,21 +53,22 @@ The tool is designed to be easily adaptable to multiple use cases. To change the
 
 ### Supported Label Formats
 
-| Label Format          | Description                                                                                                                                                    |
-| --------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| `centroid_rel`        | Centroid `[x, y, z]`; Dimensions `[length, width, height]`; <br> Relative Rotations as Euler angles in radians (-pi..+pi) `[yaw, pitch, roll]`                 |
-| `centroid_abs`        | Centroid `[x, y, z]`; Dimensions `[length, width, height]`; <br> Absolute Rotations as Euler angles in degrees (0..360°) `[yaw, pitch, roll]`                  |
-| `vertices`            | 8 Vertices of the bounding box each with `[x, y, z]` (see [Conventions](conventions.md) for order) |
-| `kitti`               | Centroid; Dimensions; z-Rotation (See [specification](https://github.com/bostondiditeam/kitti/blob/master/resources/devkit_object/readme.txt))                 |
-| `kitti_untransformed` | See above, but without transformations.                                                                                                                        |
+| Label Format          | Description                                                                                                                                    |
+| --------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------- |
+| `centroid_rel`        | Centroid `[x, y, z]`; Dimensions `[length, width, height]`; <br> Relative Rotations as Euler angles in radians (-pi..+pi) `[yaw, pitch, roll]` |
+| `centroid_abs`        | Centroid `[x, y, z]`; Dimensions `[length, width, height]`; <br> Absolute Rotations as Euler angles in degrees (0..360°) `[yaw, pitch, roll]`  |
+| `vertices`            | 8 Vertices of the bounding box each with `[x, y, z]` (see [Conventions](conventions.md) for order)                                             |
+| `kitti`               | Centroid; Dimensions; z-Rotation (See [specification](https://github.com/bostondiditeam/kitti/blob/master/resources/devkit_object/readme.txt)) |
+| `kitti_untransformed` | See above, but without transformations.                                                                                                        |
 
 You can easily create your own exporter by subclassing the abstract [BaseLabelFormat](https://github.com/ch-sa/labelCloud/blob/master/labelCloud/label_formats/base.py#L10).
 All rotations are counterclockwise (i.e. a z-rotation of 90°/π is from the positive x- to the negative y-axis!).
 
 
 
 ## Usage & Attribution
-When using the tool feel free to drop me a mail with feedback or a description of your use case (christoph.sager[at]tu-dresden.de).
+When using the tool feel free to drop me a mail with feedback or a description of your use case
+(christoph.sager[at]tu-dresden.de).
 If you are using the tool for a scientific project please consider citing our publications:
 
 
@@ -104,5 +114,10 @@ If you are using the tool for a scientific project please consider citing our pu
     ```
 
 ## Acknowledgment
-I would like to thank the [Robotron RCV-Team](https://www.robotron.de/rcv) for the support in the preparation and user evaluation of the software.
-The software was developed as part of my diploma thesis titled "labelCloud: Development of a Labeling Tool for 3D Object Detection in Point Clouds" at the [Chair for Business Informatics, especially Intelligent Systems](https://tu-dresden.de/bu/wirtschaft/winf/isd) of the TU Dresden. The ongoing research can be followed in our [project on ResearchGate](https://www.researchgate.net/project/Development-of-a-Point-Cloud-Labeling-Tool-to-Generate-Training-Data-for-3D-Object-Detection-and-6D-Pose-Estimation).
+I would like to thank the [Robotron RCV-Team](https://www.robotron.de/rcv) for the support in the
+preparation and user evaluation of the software.
+The software was developed as part of my diploma thesis titled "labelCloud: Development of a
+Labeling Tool for 3D Object Detection in Point Clouds" at the
+[Chair for Business Informatics, especially Intelligent Systems](https://tu-dresden.de/bu/wirtschaft/winf/isd)
+of the TU Dresden. The ongoing research can be followed in our
+[project on ResearchGate](https://www.researchgate.net/project/Development-of-a-Point-Cloud-Labeling-Tool-to-Generate-Training-Data-for-3D-Object-Detection-and-6D-Pose-Estimation).

labelCloud/control/controller.py

@@ -64,9 +64,15 @@ def next_pcd(self, save: bool = True) -> None:
         if save:
             self.save()
         if self.pcd_manager.pcds_left():
+            previous_bboxes = self.bbox_controller.bboxes
             self.pcd_manager.get_next_pcd()
             self.reset()
             self.bbox_controller.set_bboxes(self.pcd_manager.get_labels_from_file())
+
+            if not self.bbox_controller.bboxes and config.getboolean(
+                "LABEL", "propagate_labels"
+            ):
+                self.bbox_controller.set_bboxes(previous_bboxes)
         else:
             self.view.update_progress(len(self.pcd_manager.pcds))
             self.view.button_next_pcd.setEnabled(False)

labelCloud/resources/interfaces/interface.ui

@@ -1546,25 +1546,35 @@
     <property name="title">
      <string>File</string>
     </property>
+    <property name="toolTipsVisible">
+     <bool>true</bool>
+    </property>
     <addaction name="act_set_pcd_folder"/>
     <addaction name="act_set_label_folder"/>
    </widget>
    <widget class="QMenu" name="menuLabels">
     <property name="title">
      <string>Labels</string>
     </property>
+    <property name="toolTipsVisible">
+     <bool>true</bool>
+    </property>
     <widget class="QMenu" name="act_set_default_class">
      <property name="title">
       <string>Set Default Object Class …</string>
      </property>
     </widget>
     <addaction name="act_set_default_class"/>
     <addaction name="act_delete_all_labels"/>
+    <addaction name="act_propagate_labels"/>
    </widget>
    <widget class="QMenu" name="menuSettings">
     <property name="title">
      <string>Settings</string>
     </property>
+    <property name="toolTipsVisible">
+     <bool>true</bool>
+    </property>
     <addaction name="act_z_rotation_only"/>
     <addaction name="act_show_floor"/>
     <addaction name="act_show_orientation"/>
@@ -1603,6 +1613,9 @@
    <property name="text">
     <string>Z-Rotation Only Mode</string>
    </property>
+   <property name="toolTip">
+    <string>Only allows bounding box rotation around the z-axis.</string>
+   </property>
   </action>
   <action name="act_color_with_label">
    <property name="checkable">
@@ -1642,6 +1655,9 @@
    <property name="text">
     <string>Show Floor</string>
    </property>
+   <property name="toolTip">
+    <string>Shows a grid along the x-y-plane (z=0).</string>
+   </property>
   </action>
   <action name="act_show_orientation">
    <property name="checkable">
@@ -1664,6 +1680,10 @@
    <property name="text">
     <string>Keep Perspective</string>
    </property>
+   <property name="toolTip">
+    <string>Saves the last perspective and reuses it,
+when opening that point cloud again.</string>
+   </property>
   </action>
   <action name="act_align_pcd">
    <property name="checkable">
@@ -1675,6 +1695,9 @@
    <property name="text">
     <string>Align Point Cloud</string>
    </property>
+   <property name="toolTip">
+    <string>Transforms the point cloud so that the floor is the x-y-plane.</string>
+   </property>
   </action>
   <action name="act_change_settings">
    <property name="text">
@@ -1686,6 +1709,18 @@
     <string>test</string>
    </property>
   </action>
+  <action name="act_propagate_labels">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Propagate Labels</string>
+   </property>
+   <property name="toolTip">
+    <string>Propagate Labels to the next Point Cloud
+if it does not have labels yet.</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>