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    "<!-- Autogenerated by `scripts/make_examples.py` -->\n",
    "<table align=\"left\">\n",
    "    <td>\n",
    "        <a target=\"_blank\" href=\"https://colab.research.google.com/github/voxel51/fiftyone-examples/blob/master/examples/3D Detections.ipynb\">\n",
    "            <img src=\"https://user-images.githubusercontent.com/25985824/104791629-6e618700-5769-11eb-857f-d176b37d2496.png\" height=\"32\" width=\"32\">\n",
    "            Try in Google Colab\n",
    "        </a>\n",
    "    </td>\n",
    "    <td>\n",
    "        <a target=\"_blank\" href=\"https://nbviewer.jupyter.org/github/voxel51/fiftyone-examples/blob/master/examples/3D Detections.ipynb\">\n",
    "            <img src=\"https://user-images.githubusercontent.com/25985824/104791634-6efa1d80-5769-11eb-8a4c-71d6cb53ccf0.png\" height=\"32\" width=\"32\">\n",
    "            Share via nbviewer\n",
    "        </a>\n",
    "    </td>\n",
    "    <td>\n",
    "        <a target=\"_blank\" href=\"https://github.com/voxel51/fiftyone-examples/blob/master/examples/3D Detections.ipynb\">\n",
    "            <img src=\"https://user-images.githubusercontent.com/25985824/104791633-6efa1d80-5769-11eb-8ee3-4b2123fe4b66.png\" height=\"32\" width=\"32\">\n",
    "            View on GitHub\n",
    "        </a>\n",
    "    </td>\n",
    "    <td>\n",
    "        <a href=\"https://github.com/voxel51/fiftyone-examples/raw/master/examples/3D Detections.ipynb\" download>\n",
    "            <img src=\"https://user-images.githubusercontent.com/25985824/104792428-60f9cc00-576c-11eb-95a4-5709d803023a.png\" height=\"32\" width=\"32\">\n",
    "            Download notebook\n",
    "        </a>\n",
    "    </td>\n",
    "</table>\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "ee615feb",
   "metadata": {},
   "source": [
    "# <span style=\"color: orange\">**FiftyOne 3D Detections**"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "afae3fe7",
   "metadata": {},
   "source": [
    "## Create Your First 3D Detection Label"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "61fff01b",
   "metadata": {},
   "source": [
    "We will use [quickstart-groups](https://docs.voxel51.com/user_guide/dataset_zoo/datasets.html?highlight=quickstart%20groups#dataset-zoo-quickstart-groups) to gather some LIDAR point cloud data to create our labels:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "id": "9640f3e0",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Dataset already downloaded\n",
      "Loading 'quickstart-groups'\n",
      " 100% |█████████████████| 600/600 [1.7s elapsed, 0s remaining, 365.8 samples/s]         \n",
      "Dataset 'quickstart-groups' created\n"
     ]
    },
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style=\"width: 100%; max-width: 1474px;\"/>\n",
       "</div>\n",
       "\n",
       "<script type=\"text/javascript\">\n",
       "   (function() {\n",
       "     var container = document.getElementById(\"focontainer-0b6caafc-13ac-461d-b002-784d694ddb3e\");\n",
       "     var overlay = document.getElementById(\"fooverlay-0b6caafc-13ac-461d-b002-784d694ddb3e\");\n",
       "     fetch(`http://localhost:5151/fiftyone`)\n",
       "     .then(() => {\n",
       "        overlay.addEventListener(\"click\", () => {\n",
       "          fetch(`http://localhost:5151/event`, {\n",
       "            method: \"POST\",\n",
       "            body: JSON.stringify({\n",
       "              event: \"reactivate_notebook_cell\",\n",
       "              data: { subscription: \"0b6caafc-13ac-461d-b002-784d694ddb3e\" },\n",
       "              subscription: \"0b6caafc-13ac-461d-b002-784d694ddb3e\"\n",
       "            })\n",
       "          })\n",
       "        });\n",
       "        container.addEventListener(\"mouseenter\", () => overlay.style.display = \"block\");\n",
       "        container.addEventListener(\"mouseleave\", () => overlay.style.display = \"none\");\n",
       "     });\n",
       "   })();\n",
       "</script>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\r\n",
      "Could not connect session, trying again in 10 seconds\r\n",
      "\n"
     ]
    }
   ],
   "source": [
    "import fiftyone as fo\n",
    "import fiftyone.zoo as foz\n",
    "from fiftyone import ViewField as F\n",
    "\n",
    "dataset = foz.load_zoo_dataset(\"quickstart-groups\") \n",
    "dataset.group_slice = \"pcd\"\n",
    "session = fo.launch_app(dataset)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "509bd1c1",
   "metadata": {},
   "source": [
    "Ah! Those pesky error messages are no good. Since it is point cloud data, we have no thumbnail to display. We can change this by utilizing orthographic projection. This will create a birds eye view of our dataset and add the projection to a slice of our group as well. To learn more, look [here](https://docs.voxel51.com/api/fiftyone.utils.utils3d.html?highlight=ortho#fiftyone.utils.utils3d.compute_orthographic_projection_image)!"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "id": "00103186",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      " 100% |█████████████████| 200/200 [11.9s elapsed, 0s remaining, 16.9 samples/s]      \n",
      " 100% |█████████████████| 200/200 [76.2ms elapsed, 0s remaining, 2.6K samples/s]   \n"
     ]
    },
    {
     "data": {
      "text/html": [
       "\n",
       "<style>\n",
       "@import url(\"https://fonts.googleapis.com/css2?family=Palanquin&display=swap\");\n",
       "\n",
       "body, html {\n",
       "  margin: 0;\n",
       "  padding: 0;\n",
       "  width: 100%;\n",
       "}\n",
       "\n",
       "#focontainer-6f1fefea-8b41-4187-9a35-ce4fa82e0b8b {\n",
       "  position: relative;\n",
       "  height: 800px;\n",
       "  display: block !important;\n",
       "}\n",
       "#foactivate-6f1fefea-8b41-4187-9a35-ce4fa82e0b8b {\n",
       "  font-weight: bold;\n",
       "  cursor: pointer;\n",
       "  font-size: 24px;\n",
       "  border-radius: 3px;\n",
       "  text-align: center;\n",
       "  padding: 0.5em;\n",
       "  color: rgb(255, 255, 255);\n",
       "  font-family: \"Palanquin\", sans-serif;\n",
       "  position: absolute;\n",
       "  left: 50%;\n",
       "  top: 50%;\n",
       "  width: 160px;\n",
       "  margin-left: -80px;\n",
       "  margin-top: -23px;\n",
       "  background: hsla(210,11%,15%, 0.8);\n",
       "  border: none;\n",
       "}\n",
       "#foactivate-6f1fefea-8b41-4187-9a35-ce4fa82e0b8b:focus {\n",
       "  outline: none;\n",
       "}\n",
       "#fooverlay-6f1fefea-8b41-4187-9a35-ce4fa82e0b8b {\n",
       "  width: 100%;\n",
       "  height: 100%;\n",
       "  background: hsla(208, 7%, 46%, 0.7);\n",
       "  position: absolute;\n",
       "  top: 0;\n",
       "  left: 0;\n",
       "  display: none;\n",
       "  cursor: pointer;\n",
       "}\n",
       "</style>\n",
       "\n",
       "<div id=\"focontainer-6f1fefea-8b41-4187-9a35-ce4fa82e0b8b\">\n",
       "   <div id=\"fooverlay-6f1fefea-8b41-4187-9a35-ce4fa82e0b8b\" style=\"display: none;\">\n",
       "      <button id=\"foactivate-6f1fefea-8b41-4187-9a35-ce4fa82e0b8b\" >Activate</button>\n",
       "   </div>\n",
       "   <img 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9aNx9aAF8s+1Hln2pNx9aNx9aAF8s+1Hln2pNx9aNx9aAF8s+1Hln2pNx9aNx9aAF8s+1Hln2pNx9aXeaADyz7UeWfagse3FJuPrQAvln2o8s+1JuPrRuPrQAvln2pdjYxmm7j60bj60AL5Z9qPLPtSbj60bj60AO2HHWk8s+1JuPrRuPrQBNCxhdWCqcdQe9Ejs7MQqru696h3H1o3H1p3FYeyZxgAcetN8s+1JuPrRub1pDJHG5VGBkdTnrTPLPtSbm9aNzetAEijC4paRTlRS0AFFFFABRRRQAUUUUAf/2Q==' style=\"width: 100%; max-width: 1474px;\"/>\n",
       "</div>\n",
       "\n",
       "<script type=\"text/javascript\">\n",
       "   (function() {\n",
       "     var container = document.getElementById(\"focontainer-6f1fefea-8b41-4187-9a35-ce4fa82e0b8b\");\n",
       "     var overlay = document.getElementById(\"fooverlay-6f1fefea-8b41-4187-9a35-ce4fa82e0b8b\");\n",
       "     fetch(`http://localhost:5151/fiftyone`)\n",
       "     .then(() => {\n",
       "        overlay.addEventListener(\"click\", () => {\n",
       "          fetch(`http://localhost:5151/event`, {\n",
       "            method: \"POST\",\n",
       "            body: JSON.stringify({\n",
       "              event: \"reactivate_notebook_cell\",\n",
       "              data: { subscription: \"6f1fefea-8b41-4187-9a35-ce4fa82e0b8b\" },\n",
       "              subscription: \"6f1fefea-8b41-4187-9a35-ce4fa82e0b8b\"\n",
       "            })\n",
       "          })\n",
       "        });\n",
       "        container.addEventListener(\"mouseenter\", () => overlay.style.display = \"block\");\n",
       "        container.addEventListener(\"mouseleave\", () => overlay.style.display = \"none\");\n",
       "     });\n",
       "   })();\n",
       "</script>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import fiftyone.utils.utils3d as fou3d\n",
    "\n",
    "size = (-1, 512)\n",
    "fou3d.compute_orthographic_projection_images(\n",
    "    dataset,\n",
    "    size,\n",
    "    \"/tmp/proj\",\n",
    "    shading_mode=\"height\",\n",
    "    out_group_slice=\"proj\"\n",
    ")\n",
    "\n",
    "session.view = dataset.view()\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "630795b5",
   "metadata": {},
   "source": [
    "Much better!"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "714ed522",
   "metadata": {},
   "source": [
    "## Detections"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "ed687cfa",
   "metadata": {},
   "source": [
    "To add a [3D detection](https://docs.voxel51.com/user_guide/using_datasets.html#d-detections), we create a `fo.Detection()` label and add the label, location in x,y,z, rotation in radians (-pi, pi), and dimensions in width, length, height"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "id": "3a81b1f5",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "<style>\n",
       "@import url(\"https://fonts.googleapis.com/css2?family=Palanquin&display=swap\");\n",
       "\n",
       "body, html {\n",
       "  margin: 0;\n",
       "  padding: 0;\n",
       "  width: 100%;\n",
       "}\n",
       "\n",
       "#focontainer-f0a30e5d-1029-4a49-a91d-0031085ec996 {\n",
       "  position: relative;\n",
       "  height: 800px;\n",
       "  display: block !important;\n",
       "}\n",
       "#foactivate-f0a30e5d-1029-4a49-a91d-0031085ec996 {\n",
       "  font-weight: bold;\n",
       "  cursor: pointer;\n",
       "  font-size: 24px;\n",
       "  border-radius: 3px;\n",
       "  text-align: center;\n",
       "  padding: 0.5em;\n",
       "  color: rgb(255, 255, 255);\n",
       "  font-family: \"Palanquin\", sans-serif;\n",
       "  position: absolute;\n",
       "  left: 50%;\n",
       "  top: 50%;\n",
       "  width: 160px;\n",
       "  margin-left: -80px;\n",
       "  margin-top: -23px;\n",
       "  background: hsla(210,11%,15%, 0.8);\n",
       "  border: none;\n",
       "}\n",
       "#foactivate-f0a30e5d-1029-4a49-a91d-0031085ec996:focus {\n",
       "  outline: none;\n",
       "}\n",
       "#fooverlay-f0a30e5d-1029-4a49-a91d-0031085ec996 {\n",
       "  width: 100%;\n",
       "  height: 100%;\n",
       "  background: hsla(208, 7%, 46%, 0.7);\n",
       "  position: absolute;\n",
       "  top: 0;\n",
       "  left: 0;\n",
       "  display: none;\n",
       "  cursor: pointer;\n",
       "}\n",
       "</style>\n",
       "\n",
       "<div id=\"focontainer-f0a30e5d-1029-4a49-a91d-0031085ec996\">\n",
       "   <div id=\"fooverlay-f0a30e5d-1029-4a49-a91d-0031085ec996\" style=\"display: none;\">\n",
       "      <button id=\"foactivate-f0a30e5d-1029-4a49-a91d-0031085ec996\" >Activate</button>\n",
       "   </div>\n",
       "   <img 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style=\"width: 100%; max-width: 1474px;\"/>\n",
       "</div>\n",
       "\n",
       "<script type=\"text/javascript\">\n",
       "   (function() {\n",
       "     var container = document.getElementById(\"focontainer-f0a30e5d-1029-4a49-a91d-0031085ec996\");\n",
       "     var overlay = document.getElementById(\"fooverlay-f0a30e5d-1029-4a49-a91d-0031085ec996\");\n",
       "     fetch(`http://localhost:5151/fiftyone`)\n",
       "     .then(() => {\n",
       "        overlay.addEventListener(\"click\", () => {\n",
       "          fetch(`http://localhost:5151/event`, {\n",
       "            method: \"POST\",\n",
       "            body: JSON.stringify({\n",
       "              event: \"reactivate_notebook_cell\",\n",
       "              data: { subscription: \"f0a30e5d-1029-4a49-a91d-0031085ec996\" },\n",
       "              subscription: \"f0a30e5d-1029-4a49-a91d-0031085ec996\"\n",
       "            })\n",
       "          })\n",
       "        });\n",
       "        container.addEventListener(\"mouseenter\", () => overlay.style.display = \"block\");\n",
       "        container.addEventListener(\"mouseleave\", () => overlay.style.display = \"none\");\n",
       "     });\n",
       "   })();\n",
       "</script>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "dataset.group_slice = \"pcd\"\n",
    "sample = dataset.first()\n",
    "\n",
    "bounding_box = fo.Detection(\n",
    "                label=\"example\",\n",
    "                location=[0,0,0],\n",
    "                rotation=[0, 0, 0],\n",
    "                dimensions=[3,3,3]\n",
    "                )\n",
    "\n",
    "sample[\"example\"]= bounding_box\n",
    "sample.save()\n",
    "dataset.save()\n",
    "view =  dataset.filter_labels(\n",
    "    \"example\", F(\"label\").is_in([\"example\"])\n",
    ")\n",
    "\n",
    "session.view = view"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "1ba48c07",
   "metadata": {},
   "source": [
    "Play around with changing values to get a feel for the coordinate system:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "id": "f8ed01a3",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "<style>\n",
       "@import url(\"https://fonts.googleapis.com/css2?family=Palanquin&display=swap\");\n",
       "\n",
       "body, html {\n",
       "  margin: 0;\n",
       "  padding: 0;\n",
       "  width: 100%;\n",
       "}\n",
       "\n",
       "#focontainer-54fcbe1b-54f3-43be-b8bf-71d425c25326 {\n",
       "  position: relative;\n",
       "  height: 800px;\n",
       "  display: block !important;\n",
       "}\n",
       "#foactivate-54fcbe1b-54f3-43be-b8bf-71d425c25326 {\n",
       "  font-weight: bold;\n",
       "  cursor: pointer;\n",
       "  font-size: 24px;\n",
       "  border-radius: 3px;\n",
       "  text-align: center;\n",
       "  padding: 0.5em;\n",
       "  color: rgb(255, 255, 255);\n",
       "  font-family: \"Palanquin\", sans-serif;\n",
       "  position: absolute;\n",
       "  left: 50%;\n",
       "  top: 50%;\n",
       "  width: 160px;\n",
       "  margin-left: -80px;\n",
       "  margin-top: -23px;\n",
       "  background: hsla(210,11%,15%, 0.8);\n",
       "  border: none;\n",
       "}\n",
       "#foactivate-54fcbe1b-54f3-43be-b8bf-71d425c25326:focus {\n",
       "  outline: none;\n",
       "}\n",
       "#fooverlay-54fcbe1b-54f3-43be-b8bf-71d425c25326 {\n",
       "  width: 100%;\n",
       "  height: 100%;\n",
       "  background: hsla(208, 7%, 46%, 0.7);\n",
       "  position: absolute;\n",
       "  top: 0;\n",
       "  left: 0;\n",
       "  display: none;\n",
       "  cursor: pointer;\n",
       "}\n",
       "</style>\n",
       "\n",
       "<div id=\"focontainer-54fcbe1b-54f3-43be-b8bf-71d425c25326\">\n",
       "   <div id=\"fooverlay-54fcbe1b-54f3-43be-b8bf-71d425c25326\" style=\"display: none;\">\n",
       "      <button id=\"foactivate-54fcbe1b-54f3-43be-b8bf-71d425c25326\" >Activate</button>\n",
       "   </div>\n",
       "   <img 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style=\"width: 100%; max-width: 1474px;\"/>\n",
       "</div>\n",
       "\n",
       "<script type=\"text/javascript\">\n",
       "   (function() {\n",
       "     var container = document.getElementById(\"focontainer-54fcbe1b-54f3-43be-b8bf-71d425c25326\");\n",
       "     var overlay = document.getElementById(\"fooverlay-54fcbe1b-54f3-43be-b8bf-71d425c25326\");\n",
       "     fetch(`http://localhost:5151/fiftyone`)\n",
       "     .then(() => {\n",
       "        overlay.addEventListener(\"click\", () => {\n",
       "          fetch(`http://localhost:5151/event`, {\n",
       "            method: \"POST\",\n",
       "            body: JSON.stringify({\n",
       "              event: \"reactivate_notebook_cell\",\n",
       "              data: { subscription: \"54fcbe1b-54f3-43be-b8bf-71d425c25326\" },\n",
       "              subscription: \"54fcbe1b-54f3-43be-b8bf-71d425c25326\"\n",
       "            })\n",
       "          })\n",
       "        });\n",
       "        container.addEventListener(\"mouseenter\", () => overlay.style.display = \"block\");\n",
       "        container.addEventListener(\"mouseleave\", () => overlay.style.display = \"none\");\n",
       "     });\n",
       "   })();\n",
       "</script>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "sample = dataset.first()\n",
    "\n",
    "bounding_box = fo.Detection(\n",
    "                label=\"example\",\n",
    "                location=[0,2,4],\n",
    "                rotation=[0, 0, 0],\n",
    "                dimensions=[1,2,3]\n",
    "                )\n",
    "\n",
    "sample[\"example\"]= bounding_box\n",
    "sample.save()\n",
    "dataset.save()\n",
    "\n",
    "view =  dataset.filter_labels(\n",
    "    \"example\", F(\"label\").is_in([\"example\"])\n",
    ")\n",
    "\n",
    "session.view = view"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "949cf86e",
   "metadata": {},
   "source": [
    "Lets try experimenting with rotation now! Tweak the values to try to get the box to point in different directions!"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "id": "8c09c316",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "<style>\n",
       "@import url(\"https://fonts.googleapis.com/css2?family=Palanquin&display=swap\");\n",
       "\n",
       "body, html {\n",
       "  margin: 0;\n",
       "  padding: 0;\n",
       "  width: 100%;\n",
       "}\n",
       "\n",
       "#focontainer-37a9c29a-66dd-4cd7-bf6f-8699425061e1 {\n",
       "  position: relative;\n",
       "  height: 800px;\n",
       "  display: block !important;\n",
       "}\n",
       "#foactivate-37a9c29a-66dd-4cd7-bf6f-8699425061e1 {\n",
       "  font-weight: bold;\n",
       "  cursor: pointer;\n",
       "  font-size: 24px;\n",
       "  border-radius: 3px;\n",
       "  text-align: center;\n",
       "  padding: 0.5em;\n",
       "  color: rgb(255, 255, 255);\n",
       "  font-family: \"Palanquin\", sans-serif;\n",
       "  position: absolute;\n",
       "  left: 50%;\n",
       "  top: 50%;\n",
       "  width: 160px;\n",
       "  margin-left: -80px;\n",
       "  margin-top: -23px;\n",
       "  background: hsla(210,11%,15%, 0.8);\n",
       "  border: none;\n",
       "}\n",
       "#foactivate-37a9c29a-66dd-4cd7-bf6f-8699425061e1:focus {\n",
       "  outline: none;\n",
       "}\n",
       "#fooverlay-37a9c29a-66dd-4cd7-bf6f-8699425061e1 {\n",
       "  width: 100%;\n",
       "  height: 100%;\n",
       "  background: hsla(208, 7%, 46%, 0.7);\n",
       "  position: absolute;\n",
       "  top: 0;\n",
       "  left: 0;\n",
       "  display: none;\n",
       "  cursor: pointer;\n",
       "}\n",
       "</style>\n",
       "\n",
       "<div id=\"focontainer-37a9c29a-66dd-4cd7-bf6f-8699425061e1\">\n",
       "   <div id=\"fooverlay-37a9c29a-66dd-4cd7-bf6f-8699425061e1\" style=\"display: none;\">\n",
       "      <button id=\"foactivate-37a9c29a-66dd-4cd7-bf6f-8699425061e1\" >Activate</button>\n",
       "   </div>\n",
       "   <img 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style=\"width: 100%; max-width: 1474px;\"/>\n",
       "</div>\n",
       "\n",
       "<script type=\"text/javascript\">\n",
       "   (function() {\n",
       "     var container = document.getElementById(\"focontainer-37a9c29a-66dd-4cd7-bf6f-8699425061e1\");\n",
       "     var overlay = document.getElementById(\"fooverlay-37a9c29a-66dd-4cd7-bf6f-8699425061e1\");\n",
       "     fetch(`http://localhost:5151/fiftyone`)\n",
       "     .then(() => {\n",
       "        overlay.addEventListener(\"click\", () => {\n",
       "          fetch(`http://localhost:5151/event`, {\n",
       "            method: \"POST\",\n",
       "            body: JSON.stringify({\n",
       "              event: \"reactivate_notebook_cell\",\n",
       "              data: { subscription: \"37a9c29a-66dd-4cd7-bf6f-8699425061e1\" },\n",
       "              subscription: \"37a9c29a-66dd-4cd7-bf6f-8699425061e1\"\n",
       "            })\n",
       "          })\n",
       "        });\n",
       "        container.addEventListener(\"mouseenter\", () => overlay.style.display = \"block\");\n",
       "        container.addEventListener(\"mouseleave\", () => overlay.style.display = \"none\");\n",
       "     });\n",
       "   })();\n",
       "</script>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import numpy as np\n",
    "from fiftyone import ViewField as F\n",
    "# x = left+right = orange |  y = forward/back = green | z = up+down = blue\n",
    "bounding_box = fo.Detection(\n",
    "                label=\"example\",\n",
    "                location=[0,0,0],\n",
    "                rotation=[np.pi/4, np.pi/4, 0],\n",
    "                dimensions=[3,2,1]\n",
    "                )\n",
    "\n",
    "sample[\"example\"] = bounding_box\n",
    "sample.save()\n",
    "dataset.save()\n",
    "view =  dataset.filter_labels(\n",
    "    \"example\", F(\"label\").is_in([\"example\"])\n",
    ")\n",
    "\n",
    "session.view = view"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "434cbbe2",
   "metadata": {},
   "source": [
    "Another type of 3D label is [polylines](https://docs.voxel51.com/user_guide/using_datasets.html#d-polylines)! They are created by defining the coordinates in a list for each point on the line. Here we make a triangle:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "id": "5b1b90c8",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "        <iframe\n",
       "            width=\"100%\"\n",
       "            height=\"800\"\n",
       "            src=\"http://localhost:5151/?notebook=True&subscription=b76ab592-b3bd-46df-8a2e-65e006ff8bc2\"\n",
       "            frameborder=\"0\"\n",
       "            allowfullscreen\n",
       "            \n",
       "        ></iframe>\n",
       "        "
      ],
      "text/plain": [
       "<IPython.lib.display.IFrame at 0x7f3c7c546b90>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "label = \"lane\"\n",
    "\n",
    "# A list of lists of `[x, y, z]` points in scene coordinates describing\n",
    "# the vertices of each shape in the polyline\n",
    "points3d = [[[1, 1, 1], [0, 2, 2]], [[0, 2, 2], [-1, 1, 1]], [[-1, 1, 1], [1, 1, 1]]]\n",
    "\n",
    "# A set of semantically related 3D polylines\n",
    "polyline = fo.Polyline(label=label, points3d=points3d,)\n",
    "\n",
    "sample[\"polylines\"] = polyline\n",
    "sample.save()\n",
    "dataset.save()\n",
    "view =  dataset.filter_labels(\n",
    "    \"polylines\", F(\"label\").is_in([\"lane\"])\n",
    ")\n",
    "\n",
    "session.view = view\n"
   ]
  }
 ],
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