feat(keypoints): add keypoint conversion bridge by Borda · Pull Request #2277 · roboflow/supervision

Borda · 2026-05-27T09:55:27Z

No description provided.

Co-authored-by: Codex <codex@openai.com>

codecov · 2026-05-27T09:57:34Z

Codecov Report

❌ Patch coverage is 87.27273% with 21 lines in your changes missing coverage. Please review.
✅ Project coverage is 79%. Comparing base (81218c5) to head (efc08bf).

Additional details and impacted files

@@           Coverage Diff            @@
##           develop   #2277    +/-   ##
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  Coverage       78%     79%            
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  Files           66      66            
  Lines         8416    8567   +151     
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+ Hits          6594    6726   +132     
- Misses        1822    1841    +19

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Co-authored-by: Codex <codex@openai.com>

…ilities - Simplify `ValueError` matching in `KeyPoints.from_rfdetr` tests. - Refactor utilities to ensure typed consistency in `merge_data`, `is_data_equal`, and metadata handling. - Add `_optional_array_equal` helper for comparing arrays with `None` values. - Enhance type annotations and casting for clarity and correctness in keypoint operations. - Improve masking logic consistency for conversions and indexing.

…t arrays - Skip rendering ellipses for non-finite confidence values in `VertexEllipseAnnotator`. - Ensure `KeyPoints.from_rfdetr` handles empty keypoint arrays by returning an empty instance. - Add tests for both scenarios for better coverage and validation.

Copilot

Pull request overview

Adds an RF-DETR → KeyPoints bridge plus a covariance-ellipse annotator for visualizing per-keypoint uncertainty. KeyPoints.from_rfdetr reads keypoints (and optionally keypoint_precision_cholesky + source_shape) from a Detections instance, converting precision parameters to pixel-space covariance stored under data["covariance"]. The new VertexEllipseAnnotator consumes this covariance to draw solid or dashed ellipses around vertices. Supporting changes loosen is_data_equal / merge_data typing to allow list[Any] data values and switch keypoint equality to a None-safe array comparison.

Changes:

Add KeyPoints.from_rfdetr plus internal helpers for source-shape validation and Cholesky-precision-to-pixel-covariance conversion, and make __eq__ None-safe.
Add VertexEllipseAnnotator (solid/dashed ellipses, confidence filtering, configurable covariance data key) and export it from supervision.
Relax is_data_equal / merge_data type signatures and adjust typing casts in KeyPoints; add tests for the new converter and annotator.

Reviewed changes

Copilot reviewed 7 out of 7 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
src/supervision/key_points/core.py	Adds RF-DETR converter, covariance helpers, `_optional_array_equal`, and typing-related casts.
src/supervision/key_points/annotators.py	Implements `VertexEllipseAnnotator` with solid/dashed rendering and covariance validation.
src/supervision/detection/utils/internal.py	Broadens `is_data_equal` / `merge_data` typing to support `list[Any]` data values.
src/supervision/init.py	Exports the new `VertexEllipseAnnotator` from the top-level package.
tests/key_points/test_core.py	Adds RF-DETR fixture and tests for keypoints, covariance, missing-data, and empty cases.
tests/key_points/test_from_rfdetr.py	New test module covering the `from_rfdetr` conversion and downstream annotators.
tests/key_points/test_annotators.py	Adds `TestVertexEllipseAnnotator` covering rendering, validation, and edge cases.

- Add VertexEllipseAnnotator tab with usage code example - Add mkdocstrings reference block for API docs generation --- Co-authored-by: Claude Code <noreply@anthropic.com>

- Add pycon-style doctest showing basic usage and optional covariance path --- Co-authored-by: Claude Code <noreply@anthropic.com>

- Add Note section to from_rfdetr docstring clarifying (height, width) order - Update _rfdetr_source_shape ValueError message to state (height, width) --- Co-authored-by: Claude Code <noreply@anthropic.com>

- Check precision_cholesky.shape[:2] == keypoints.shape[:2] before covariance computation; raises ValueError with clear message on mismatch --- Co-authored-by: Claude Code <noreply@anthropic.com>

- Count non_finite, singular, and overflow failures per conversion call - Emit aggregated logger.warning when any keypoints are skipped --- Co-authored-by: Claude Code <noreply@anthropic.com>

- Cast np.asarray result in _get_covariances to NDArray[np.float32] - Cast reshape+astype result in VertexLabelAnnotator to NDArray[np.int_] --- Co-authored-by: Claude Code <noreply@anthropic.com>

…seAnnotator - Verify low-confidence keypoint (0.3 < threshold 0.5) is not drawn - Verify high-confidence keypoint (0.7 > threshold 0.5) is drawn --- Co-authored-by: Claude Code <noreply@anthropic.com>

- Test max_axis_length clamps large covariance eigenvalues - Parametrized test for all constructor ValueError guards (sigma, thickness, max_axis_length, dash_length) --- Co-authored-by: Claude Code <noreply@anthropic.com>

…nnotator - Note that near-singular precision can produce frame-spanning ellipses - Recommend setting a pixel bound for production use --- Co-authored-by: Claude Code <noreply@anthropic.com>

…e docstring --- Co-authored-by: Claude Code <noreply@anthropic.com>

- Note that confidence is stored as-is (expected probability 0-1) - Warn about logit-scale output requiring adjusted threshold --- Co-authored-by: Claude Code <noreply@anthropic.com>

… docstring - from_rfdetr accepts sv.Detections (not native RF-DETR output); explain why --- Co-authored-by: Claude Code <noreply@anthropic.com>

- Replace `|` with `Union` for backward compatibility - Update `Optional` usage for clarity in `from_rfdetr` method

- Add explicit check and conversion for None class_id in RF-DETR detections

Copilot

Pull request overview

Copilot reviewed 8 out of 8 changed files in this pull request and generated no new comments.

feat(keypoints): add RF-DETR keypoint conversion bridge

89e0427

Co-authored-by: Codex <codex@openai.com>

Borda and others added 2 commits May 27, 2026 14:16

feat: add RF-DETR keypoint uncertainty visualization

5c2bd84

Co-authored-by: Codex <codex@openai.com>

refactor(keypoints): remove deprecated RF-DETR keypoint conversion logic

b741e05

Borda force-pushed the feat/keypoints branch from ca585e9 to b741e05 Compare May 27, 2026 12:19

Borda added 2 commits May 27, 2026 14:29

Borda marked this pull request as ready for review May 27, 2026 15:58

Borda requested a review from SkalskiP as a code owner May 27, 2026 15:58

Copilot AI review requested due to automatic review settings May 27, 2026 15:58

Merge branch 'develop' into feat/keypoints

1291e88

Copilot started reviewing on behalf of Borda May 27, 2026 15:58 View session

Copilot AI reviewed May 27, 2026

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Comment thread src/supervision/__init__.py

Comment thread src/supervision/key_points/core.py

Comment thread src/supervision/key_points/core.py

Comment thread src/supervision/key_points/core.py Outdated

Borda and others added 12 commits May 27, 2026 18:53

docs(keypoint): add VertexEllipseAnnotator to annotators docs

3f9b962

- Add VertexEllipseAnnotator tab with usage code example - Add mkdocstrings reference block for API docs generation --- Co-authored-by: Claude Code <noreply@anthropic.com>

docs(keypoints): add Example block to KeyPoints.from_rfdetr docstring

ec9491a

- Add pycon-style doctest showing basic usage and optional covariance path --- Co-authored-by: Claude Code <noreply@anthropic.com>

docs(keypoints): document source_shape HW ordering in from_rfdetr

495ea0d

- Add Note section to from_rfdetr docstring clarifying (height, width) order - Update _rfdetr_source_shape ValueError message to state (height, width) --- Co-authored-by: Claude Code <noreply@anthropic.com>

feat(keypoints): validate precision_cholesky shape in from_rfdetr

7d2356b

- Check precision_cholesky.shape[:2] == keypoints.shape[:2] before covariance computation; raises ValueError with clear message on mismatch --- Co-authored-by: Claude Code <noreply@anthropic.com>

refine(keypoints): add warning log for silent precision matrix failures

6653e71

- Count non_finite, singular, and overflow failures per conversion call - Emit aggregated logger.warning when any keypoints are skipped --- Co-authored-by: Claude Code <noreply@anthropic.com>

fix(keypoints): fix mypy type errors in VertexEllipseAnnotator

fcc9a00

- Cast np.asarray result in _get_covariances to NDArray[np.float32] - Cast reshape+astype result in VertexLabelAnnotator to NDArray[np.int_] --- Co-authored-by: Claude Code <noreply@anthropic.com>

test(keypoints): add confidence_threshold filter test for VertexEllip…

4077cfc

…seAnnotator - Verify low-confidence keypoint (0.3 < threshold 0.5) is not drawn - Verify high-confidence keypoint (0.7 > threshold 0.5) is drawn --- Co-authored-by: Claude Code <noreply@anthropic.com>

docs(keypoints): document max_axis_length=None risk in VertexEllipseA…

781ca8b

…nnotator - Note that near-singular precision can produce frame-spanning ellipses - Recommend setting a pixel bound for production use --- Co-authored-by: Claude Code <noreply@anthropic.com>

docs(keypoints): add Raises section to VertexEllipseAnnotator.annotat…

815029e

…e docstring --- Co-authored-by: Claude Code <noreply@anthropic.com>

docs(keypoints): document confidence scale convention in from_rfdetr

3652386

- Note that confidence is stored as-is (expected probability 0-1) - Warn about logit-scale output requiring adjusted threshold --- Co-authored-by: Claude Code <noreply@anthropic.com>

docs(keypoints): note from_rfdetr input convention in KeyPoints class…

dcb26af

… docstring - from_rfdetr accepts sv.Detections (not native RF-DETR output); explain why --- Co-authored-by: Claude Code <noreply@anthropic.com>

Borda added the enhancement New feature or request label May 27, 2026

Borda added 2 commits May 27, 2026 20:18

fix(types): improve type hinting for internal and keypoints modules

133c316

- Replace `|` with `Union` for backward compatibility - Update `Optional` usage for clarity in `from_rfdetr` method

fix(keypoints): handle None class_id in from_rfdetr conversion

efc08bf

- Add explicit check and conversion for None class_id in RF-DETR detections

Borda requested a review from Copilot May 27, 2026 18:51

Copilot started reviewing on behalf of Borda May 27, 2026 18:51 View session

Copilot AI reviewed May 27, 2026

View reviewed changes

Borda merged commit 918b613 into develop May 28, 2026
30 checks passed

Borda deleted the feat/keypoints branch May 28, 2026 08:36

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feat(keypoints): add keypoint conversion bridge#2277

feat(keypoints): add keypoint conversion bridge#2277
Borda merged 20 commits into
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Borda commented May 27, 2026

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codecov Bot commented May 27, 2026 •

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