Tài liệu tham khảo cho ultralytics/utils/plotting.py

class Colors:
    """
    Ultralytics default color palette https://ultralytics.com/.

    This class provides methods to work with the Ultralytics color palette, including converting hex color codes to
    RGB values.

    Attributes:
        palette (list of tuple): List of RGB color values.
        n (int): The number of colors in the palette.
        pose_palette (np.ndarray): A specific color palette array with dtype np.uint8.
    """

    def __init__(self):
        """Initialize colors as hex = matplotlib.colors.TABLEAU_COLORS.values()."""
        hexs = (
            "FF3838",
            "FF9D97",
            "FF701F",
            "FFB21D",
            "CFD231",
            "48F90A",
            "92CC17",
            "3DDB86",
            "1A9334",
            "00D4BB",
            "2C99A8",
            "00C2FF",
            "344593",
            "6473FF",
            "0018EC",
            "8438FF",
            "520085",
            "CB38FF",
            "FF95C8",
            "FF37C7",
        )
        self.palette = [self.hex2rgb(f"#{c}") for c in hexs]
        self.n = len(self.palette)
        self.pose_palette = np.array(
            [
                [255, 128, 0],
                [255, 153, 51],
                [255, 178, 102],
                [230, 230, 0],
                [255, 153, 255],
                [153, 204, 255],
                [255, 102, 255],
                [255, 51, 255],
                [102, 178, 255],
                [51, 153, 255],
                [255, 153, 153],
                [255, 102, 102],
                [255, 51, 51],
                [153, 255, 153],
                [102, 255, 102],
                [51, 255, 51],
                [0, 255, 0],
                [0, 0, 255],
                [255, 0, 0],
                [255, 255, 255],
            ],
            dtype=np.uint8,
        )

    def __call__(self, i, bgr=False):
        """Converts hex color codes to RGB values."""
        c = self.palette[int(i) % self.n]
        return (c[2], c[1], c[0]) if bgr else c

    @staticmethod
    def hex2rgb(h):
        """Converts hex color codes to RGB values (i.e. default PIL order)."""
        return tuple(int(h[1 + i : 1 + i + 2], 16) for i in (0, 2, 4))

class Annotator:
    """
    Ultralytics Annotator for train/val mosaics and JPGs and predictions annotations.

    Attributes:
        im (Image.Image or numpy array): The image to annotate.
        pil (bool): Whether to use PIL or cv2 for drawing annotations.
        font (ImageFont.truetype or ImageFont.load_default): Font used for text annotations.
        lw (float): Line width for drawing.
        skeleton (List[List[int]]): Skeleton structure for keypoints.
        limb_color (List[int]): Color palette for limbs.
        kpt_color (List[int]): Color palette for keypoints.
    """

    def __init__(self, im, line_width=None, font_size=None, font="Arial.ttf", pil=False, example="abc"):
        """Initialize the Annotator class with image and line width along with color palette for keypoints and limbs."""
        non_ascii = not is_ascii(example)  # non-latin labels, i.e. asian, arabic, cyrillic
        input_is_pil = isinstance(im, Image.Image)
        self.pil = pil or non_ascii or input_is_pil
        self.lw = line_width or max(round(sum(im.size if input_is_pil else im.shape) / 2 * 0.003), 2)
        if self.pil:  # use PIL
            self.im = im if input_is_pil else Image.fromarray(im)
            self.draw = ImageDraw.Draw(self.im)
            try:
                font = check_font("Arial.Unicode.ttf" if non_ascii else font)
                size = font_size or max(round(sum(self.im.size) / 2 * 0.035), 12)
                self.font = ImageFont.truetype(str(font), size)
            except Exception:
                self.font = ImageFont.load_default()
            # Deprecation fix for w, h = getsize(string) -> _, _, w, h = getbox(string)
            if check_version(pil_version, "9.2.0"):
                self.font.getsize = lambda x: self.font.getbbox(x)[2:4]  # text width, height
        else:  # use cv2
            assert im.data.contiguous, "Image not contiguous. Apply np.ascontiguousarray(im) to Annotator input images."
            self.im = im if im.flags.writeable else im.copy()
            self.tf = max(self.lw - 1, 1)  # font thickness
            self.sf = self.lw / 3  # font scale
        # Pose
        self.skeleton = [
            [16, 14],
            [14, 12],
            [17, 15],
            [15, 13],
            [12, 13],
            [6, 12],
            [7, 13],
            [6, 7],
            [6, 8],
            [7, 9],
            [8, 10],
            [9, 11],
            [2, 3],
            [1, 2],
            [1, 3],
            [2, 4],
            [3, 5],
            [4, 6],
            [5, 7],
        ]

        self.limb_color = colors.pose_palette[[9, 9, 9, 9, 7, 7, 7, 0, 0, 0, 0, 0, 16, 16, 16, 16, 16, 16, 16]]
        self.kpt_color = colors.pose_palette[[16, 16, 16, 16, 16, 0, 0, 0, 0, 0, 0, 9, 9, 9, 9, 9, 9]]

    def box_label(self, box, label="", color=(128, 128, 128), txt_color=(255, 255, 255), rotated=False):
        """Add one xyxy box to image with label."""
        if isinstance(box, torch.Tensor):
            box = box.tolist()
        if self.pil or not is_ascii(label):
            if rotated:
                p1 = box[0]
                # NOTE: PIL-version polygon needs tuple type.
                self.draw.polygon([tuple(b) for b in box], width=self.lw, outline=color)
            else:
                p1 = (box[0], box[1])
                self.draw.rectangle(box, width=self.lw, outline=color)  # box
            if label:
                w, h = self.font.getsize(label)  # text width, height
                outside = p1[1] - h >= 0  # label fits outside box
                self.draw.rectangle(
                    (p1[0], p1[1] - h if outside else p1[1], p1[0] + w + 1, p1[1] + 1 if outside else p1[1] + h + 1),
                    fill=color,
                )
                # self.draw.text((box[0], box[1]), label, fill=txt_color, font=self.font, anchor='ls')  # for PIL>8.0
                self.draw.text((p1[0], p1[1] - h if outside else p1[1]), label, fill=txt_color, font=self.font)
        else:  # cv2
            if rotated:
                p1 = [int(b) for b in box[0]]
                # NOTE: cv2-version polylines needs np.asarray type.
                cv2.polylines(self.im, [np.asarray(box, dtype=int)], True, color, self.lw)
            else:
                p1, p2 = (int(box[0]), int(box[1])), (int(box[2]), int(box[3]))
                cv2.rectangle(self.im, p1, p2, color, thickness=self.lw, lineType=cv2.LINE_AA)
            if label:
                w, h = cv2.getTextSize(label, 0, fontScale=self.sf, thickness=self.tf)[0]  # text width, height
                outside = p1[1] - h >= 3
                p2 = p1[0] + w, p1[1] - h - 3 if outside else p1[1] + h + 3
                cv2.rectangle(self.im, p1, p2, color, -1, cv2.LINE_AA)  # filled
                cv2.putText(
                    self.im,
                    label,
                    (p1[0], p1[1] - 2 if outside else p1[1] + h + 2),
                    0,
                    self.sf,
                    txt_color,
                    thickness=self.tf,
                    lineType=cv2.LINE_AA,
                )

    def masks(self, masks, colors, im_gpu, alpha=0.5, retina_masks=False):
        """
        Plot masks on image.

        Args:
            masks (tensor): Predicted masks on cuda, shape: [n, h, w]
            colors (List[List[Int]]): Colors for predicted masks, [[r, g, b] * n]
            im_gpu (tensor): Image is in cuda, shape: [3, h, w], range: [0, 1]
            alpha (float): Mask transparency: 0.0 fully transparent, 1.0 opaque
            retina_masks (bool): Whether to use high resolution masks or not. Defaults to False.
        """
        if self.pil:
            # Convert to numpy first
            self.im = np.asarray(self.im).copy()
        if len(masks) == 0:
            self.im[:] = im_gpu.permute(1, 2, 0).contiguous().cpu().numpy() * 255
        if im_gpu.device != masks.device:
            im_gpu = im_gpu.to(masks.device)
        colors = torch.tensor(colors, device=masks.device, dtype=torch.float32) / 255.0  # shape(n,3)
        colors = colors[:, None, None]  # shape(n,1,1,3)
        masks = masks.unsqueeze(3)  # shape(n,h,w,1)
        masks_color = masks * (colors * alpha)  # shape(n,h,w,3)

        inv_alpha_masks = (1 - masks * alpha).cumprod(0)  # shape(n,h,w,1)
        mcs = masks_color.max(dim=0).values  # shape(n,h,w,3)

        im_gpu = im_gpu.flip(dims=[0])  # flip channel
        im_gpu = im_gpu.permute(1, 2, 0).contiguous()  # shape(h,w,3)
        im_gpu = im_gpu * inv_alpha_masks[-1] + mcs
        im_mask = im_gpu * 255
        im_mask_np = im_mask.byte().cpu().numpy()
        self.im[:] = im_mask_np if retina_masks else ops.scale_image(im_mask_np, self.im.shape)
        if self.pil:
            # Convert im back to PIL and update draw
            self.fromarray(self.im)

    def kpts(self, kpts, shape=(640, 640), radius=5, kpt_line=True, conf_thres=0.25):
        """
        Plot keypoints on the image.

        Args:
            kpts (tensor): Predicted keypoints with shape [17, 3]. Each keypoint has (x, y, confidence).
            shape (tuple): Image shape as a tuple (h, w), where h is the height and w is the width.
            radius (int, optional): Radius of the drawn keypoints. Default is 5.
            kpt_line (bool, optional): If True, the function will draw lines connecting keypoints
                                       for human pose. Default is True.

        Note:
            `kpt_line=True` currently only supports human pose plotting.
        """
        if self.pil:
            # Convert to numpy first
            self.im = np.asarray(self.im).copy()
        nkpt, ndim = kpts.shape
        is_pose = nkpt == 17 and ndim in {2, 3}
        kpt_line &= is_pose  # `kpt_line=True` for now only supports human pose plotting
        for i, k in enumerate(kpts):
            color_k = [int(x) for x in self.kpt_color[i]] if is_pose else colors(i)
            x_coord, y_coord = k[0], k[1]
            if x_coord % shape[1] != 0 and y_coord % shape[0] != 0:
                if len(k) == 3:
                    conf = k[2]
                    if conf < conf_thres:
                        continue
                cv2.circle(self.im, (int(x_coord), int(y_coord)), radius, color_k, -1, lineType=cv2.LINE_AA)

        if kpt_line:
            ndim = kpts.shape[-1]
            for i, sk in enumerate(self.skeleton):
                pos1 = (int(kpts[(sk[0] - 1), 0]), int(kpts[(sk[0] - 1), 1]))
                pos2 = (int(kpts[(sk[1] - 1), 0]), int(kpts[(sk[1] - 1), 1]))
                if ndim == 3:
                    conf1 = kpts[(sk[0] - 1), 2]
                    conf2 = kpts[(sk[1] - 1), 2]
                    if conf1 < conf_thres or conf2 < conf_thres:
                        continue
                if pos1[0] % shape[1] == 0 or pos1[1] % shape[0] == 0 or pos1[0] < 0 or pos1[1] < 0:
                    continue
                if pos2[0] % shape[1] == 0 or pos2[1] % shape[0] == 0 or pos2[0] < 0 or pos2[1] < 0:
                    continue
                cv2.line(self.im, pos1, pos2, [int(x) for x in self.limb_color[i]], thickness=2, lineType=cv2.LINE_AA)
        if self.pil:
            # Convert im back to PIL and update draw
            self.fromarray(self.im)

    def rectangle(self, xy, fill=None, outline=None, width=1):
        """Add rectangle to image (PIL-only)."""
        self.draw.rectangle(xy, fill, outline, width)

    def text(self, xy, text, txt_color=(255, 255, 255), anchor="top", box_style=False):
        """Adds text to an image using PIL or cv2."""
        if anchor == "bottom":  # start y from font bottom
            w, h = self.font.getsize(text)  # text width, height
            xy[1] += 1 - h
        if self.pil:
            if box_style:
                w, h = self.font.getsize(text)
                self.draw.rectangle((xy[0], xy[1], xy[0] + w + 1, xy[1] + h + 1), fill=txt_color)
                # Using `txt_color` for background and draw fg with white color
                txt_color = (255, 255, 255)
            if "\n" in text:
                lines = text.split("\n")
                _, h = self.font.getsize(text)
                for line in lines:
                    self.draw.text(xy, line, fill=txt_color, font=self.font)
                    xy[1] += h
            else:
                self.draw.text(xy, text, fill=txt_color, font=self.font)
        else:
            if box_style:
                w, h = cv2.getTextSize(text, 0, fontScale=self.sf, thickness=self.tf)[0]  # text width, height
                outside = xy[1] - h >= 3
                p2 = xy[0] + w, xy[1] - h - 3 if outside else xy[1] + h + 3
                cv2.rectangle(self.im, xy, p2, txt_color, -1, cv2.LINE_AA)  # filled
                # Using `txt_color` for background and draw fg with white color
                txt_color = (255, 255, 255)
            cv2.putText(self.im, text, xy, 0, self.sf, txt_color, thickness=self.tf, lineType=cv2.LINE_AA)

    def fromarray(self, im):
        """Update self.im from a numpy array."""
        self.im = im if isinstance(im, Image.Image) else Image.fromarray(im)
        self.draw = ImageDraw.Draw(self.im)

    def result(self):
        """Return annotated image as array."""
        return np.asarray(self.im)

    def show(self, title=None):
        """Show the annotated image."""
        Image.fromarray(np.asarray(self.im)[..., ::-1]).show(title)

    def save(self, filename="image.jpg"):
        """Save the annotated image to 'filename'."""
        cv2.imwrite(filename, np.asarray(self.im))

    def get_bbox_dimension(self, bbox=None):
        """
        Calculate the area of a bounding box.

        Args:
            bbox (tuple): Bounding box coordinates in the format (x_min, y_min, x_max, y_max).

        Returns:
            angle (degree): Degree value of angle between three points
        """
        x_min, y_min, x_max, y_max = bbox
        width = x_max - x_min
        height = y_max - y_min
        return width, height, width * height

    def draw_region(self, reg_pts=None, color=(0, 255, 0), thickness=5):
        """
        Draw region line.

        Args:
            reg_pts (list): Region Points (for line 2 points, for region 4 points)
            color (tuple): Region Color value
            thickness (int): Region area thickness value
        """
        cv2.polylines(self.im, [np.array(reg_pts, dtype=np.int32)], isClosed=True, color=color, thickness=thickness)

    def draw_centroid_and_tracks(self, track, color=(255, 0, 255), track_thickness=2):
        """
        Draw centroid point and track trails.

        Args:
            track (list): object tracking points for trails display
            color (tuple): tracks line color
            track_thickness (int): track line thickness value
        """
        points = np.hstack(track).astype(np.int32).reshape((-1, 1, 2))
        cv2.polylines(self.im, [points], isClosed=False, color=color, thickness=track_thickness)
        cv2.circle(self.im, (int(track[-1][0]), int(track[-1][1])), track_thickness * 2, color, -1)

    def queue_counts_display(self, label, points=None, region_color=(255, 255, 255), txt_color=(0, 0, 0), fontsize=0.7):
        """
        Displays queue counts on an image centered at the points with customizable font size and colors.

        Args:
            label (str): queue counts label
            points (tuple): region points for center point calculation to display text
            region_color (RGB): queue region color
            txt_color (RGB): text display color
            fontsize (float): text fontsize
        """
        x_values = [point[0] for point in points]
        y_values = [point[1] for point in points]
        center_x = sum(x_values) // len(points)
        center_y = sum(y_values) // len(points)

        text_size = cv2.getTextSize(label, 0, fontScale=fontsize, thickness=self.tf)[0]
        text_width = text_size[0]
        text_height = text_size[1]

        rect_width = text_width + 20
        rect_height = text_height + 20
        rect_top_left = (center_x - rect_width // 2, center_y - rect_height // 2)
        rect_bottom_right = (center_x + rect_width // 2, center_y + rect_height // 2)
        cv2.rectangle(self.im, rect_top_left, rect_bottom_right, region_color, -1)

        text_x = center_x - text_width // 2
        text_y = center_y + text_height // 2

        # Draw text
        cv2.putText(
            self.im,
            label,
            (text_x, text_y),
            0,
            fontScale=fontsize,
            color=txt_color,
            thickness=self.tf,
            lineType=cv2.LINE_AA,
        )

    ### Parking management utils
    def display_objects_labels(self, im0, text, txt_color, bg_color, x_center, y_center, margin):
        """
        Display the bounding boxes labels in parking management app.

        Args:
            im0 (ndarray): inference image
            text (str): object/class name
            txt_color (bgr color): display color for text foreground
            bg_color (bgr color): display color for text background
            x_center (float): x position center point for bounding box
            y_center (float): y position center point for bounding box
            margin (int): gap between text and rectangle for better display
        """

        text_size = cv2.getTextSize(text, 0, fontScale=self.sf, thickness=self.tf)[0]
        text_x = x_center - text_size[0] // 2
        text_y = y_center + text_size[1] // 2

        rect_x1 = text_x - margin
        rect_y1 = text_y - text_size[1] - margin
        rect_x2 = text_x + text_size[0] + margin
        rect_y2 = text_y + margin
        cv2.rectangle(im0, (rect_x1, rect_y1), (rect_x2, rect_y2), bg_color, -1)
        cv2.putText(im0, text, (text_x, text_y), 0, self.sf, txt_color, self.tf, lineType=cv2.LINE_AA)

    # Parking lot and object counting app
    def display_analytics(self, im0, text, txt_color, bg_color, margin):
        """
        Display the overall statistics for parking lots
        Args:
            im0 (ndarray): inference image
            text (dict): labels dictionary
            txt_color (bgr color): display color for text foreground
            bg_color (bgr color): display color for text background
            margin (int): gap between text and rectangle for better display
        """

        horizontal_gap = int(im0.shape[1] * 0.02)
        vertical_gap = int(im0.shape[0] * 0.01)

        text_y_offset = 0

        for label, value in text.items():
            txt = f"{label}: {value}"
            text_size = cv2.getTextSize(txt, 0, int(self.sf * 1.5), int(self.tf * 1.5))[0]
            text_x = im0.shape[1] - text_size[0] - margin * 2 - horizontal_gap
            text_y = text_y_offset + text_size[1] + margin * 2 + vertical_gap
            rect_x1 = text_x - margin * 2
            rect_y1 = text_y - text_size[1] - margin * 2
            rect_x2 = text_x + text_size[0] + margin * 2
            rect_y2 = text_y + margin * 2
            cv2.rectangle(im0, (rect_x1, rect_y1), (rect_x2, rect_y2), bg_color, -1)
            cv2.putText(
                im0, txt, (text_x, text_y), 0, int(self.sf * 1.5), txt_color, int(self.tf * 1.5), lineType=cv2.LINE_AA
            )
            text_y_offset = rect_y2

    @staticmethod
    def estimate_pose_angle(a, b, c):
        """
        Calculate the pose angle for object.

        Args:
            a (float) : The value of pose point a
            b (float): The value of pose point b
            c (float): The value o pose point c

        Returns:
            angle (degree): Degree value of angle between three points
        """
        a, b, c = np.array(a), np.array(b), np.array(c)
        radians = np.arctan2(c[1] - b[1], c[0] - b[0]) - np.arctan2(a[1] - b[1], a[0] - b[0])
        angle = np.abs(radians * 180.0 / np.pi)
        if angle > 180.0:
            angle = 360 - angle
        return angle

    def draw_specific_points(self, keypoints, indices=[2, 5, 7], shape=(640, 640), radius=2, conf_thres=0.25):
        """
        Draw specific keypoints for gym steps counting.

        Args:
            keypoints (list): list of keypoints data to be plotted
            indices (list): keypoints ids list to be plotted
            shape (tuple): imgsz for model inference
            radius (int): Keypoint radius value
        """
        for i, k in enumerate(keypoints):
            if i in indices:
                x_coord, y_coord = k[0], k[1]
                if x_coord % shape[1] != 0 and y_coord % shape[0] != 0:
                    if len(k) == 3:
                        conf = k[2]
                        if conf < conf_thres:
                            continue
                    cv2.circle(self.im, (int(x_coord), int(y_coord)), radius, (0, 255, 0), -1, lineType=cv2.LINE_AA)
        return self.im

    def plot_angle_and_count_and_stage(self, angle_text, count_text, stage_text, center_kpt, line_thickness=2):
        """
        Plot the pose angle, count value and step stage.

        Args:
            angle_text (str): angle value for workout monitoring
            count_text (str): counts value for workout monitoring
            stage_text (str): stage decision for workout monitoring
            center_kpt (int): centroid pose index for workout monitoring
            line_thickness (int): thickness for text display
        """
        angle_text, count_text, stage_text = (f" {angle_text:.2f}", f"Steps : {count_text}", f" {stage_text}")
        font_scale = 0.6 + (line_thickness / 10.0)

        # Draw angle
        (angle_text_width, angle_text_height), _ = cv2.getTextSize(angle_text, 0, font_scale, line_thickness)
        angle_text_position = (int(center_kpt[0]), int(center_kpt[1]))
        angle_background_position = (angle_text_position[0], angle_text_position[1] - angle_text_height - 5)
        angle_background_size = (angle_text_width + 2 * 5, angle_text_height + 2 * 5 + (line_thickness * 2))
        cv2.rectangle(
            self.im,
            angle_background_position,
            (
                angle_background_position[0] + angle_background_size[0],
                angle_background_position[1] + angle_background_size[1],
            ),
            (255, 255, 255),
            -1,
        )
        cv2.putText(self.im, angle_text, angle_text_position, 0, font_scale, (0, 0, 0), line_thickness)

        # Draw Counts
        (count_text_width, count_text_height), _ = cv2.getTextSize(count_text, 0, font_scale, line_thickness)
        count_text_position = (angle_text_position[0], angle_text_position[1] + angle_text_height + 20)
        count_background_position = (
            angle_background_position[0],
            angle_background_position[1] + angle_background_size[1] + 5,
        )
        count_background_size = (count_text_width + 10, count_text_height + 10 + (line_thickness * 2))

        cv2.rectangle(
            self.im,
            count_background_position,
            (
                count_background_position[0] + count_background_size[0],
                count_background_position[1] + count_background_size[1],
            ),
            (255, 255, 255),
            -1,
        )
        cv2.putText(self.im, count_text, count_text_position, 0, font_scale, (0, 0, 0), line_thickness)

        # Draw Stage
        (stage_text_width, stage_text_height), _ = cv2.getTextSize(stage_text, 0, font_scale, line_thickness)
        stage_text_position = (int(center_kpt[0]), int(center_kpt[1]) + angle_text_height + count_text_height + 40)
        stage_background_position = (stage_text_position[0], stage_text_position[1] - stage_text_height - 5)
        stage_background_size = (stage_text_width + 10, stage_text_height + 10)

        cv2.rectangle(
            self.im,
            stage_background_position,
            (
                stage_background_position[0] + stage_background_size[0],
                stage_background_position[1] + stage_background_size[1],
            ),
            (255, 255, 255),
            -1,
        )
        cv2.putText(self.im, stage_text, stage_text_position, 0, font_scale, (0, 0, 0), line_thickness)

    def seg_bbox(self, mask, mask_color=(255, 0, 255), det_label=None, track_label=None):
        """
        Function for drawing segmented object in bounding box shape.

        Args:
            mask (list): masks data list for instance segmentation area plotting
            mask_color (tuple): mask foreground color
            det_label (str): Detection label text
            track_label (str): Tracking label text
        """
        cv2.polylines(self.im, [np.int32([mask])], isClosed=True, color=mask_color, thickness=2)

        label = f"Track ID: {track_label}" if track_label else det_label
        text_size, _ = cv2.getTextSize(label, 0, 0.7, 1)

        cv2.rectangle(
            self.im,
            (int(mask[0][0]) - text_size[0] // 2 - 10, int(mask[0][1]) - text_size[1] - 10),
            (int(mask[0][0]) + text_size[0] // 2 + 5, int(mask[0][1] + 5)),
            mask_color,
            -1,
        )

        cv2.putText(
            self.im, label, (int(mask[0][0]) - text_size[0] // 2, int(mask[0][1]) - 5), 0, 0.7, (255, 255, 255), 2
        )

    def plot_distance_and_line(self, distance_m, distance_mm, centroids, line_color, centroid_color):
        """
        Plot the distance and line on frame.

        Args:
            distance_m (float): Distance between two bbox centroids in meters.
            distance_mm (float): Distance between two bbox centroids in millimeters.
            centroids (list): Bounding box centroids data.
            line_color (RGB): Distance line color.
            centroid_color (RGB): Bounding box centroid color.
        """
        (text_width_m, text_height_m), _ = cv2.getTextSize(f"Distance M: {distance_m:.2f}m", 0, 0.8, 2)
        cv2.rectangle(self.im, (15, 25), (15 + text_width_m + 10, 25 + text_height_m + 20), (255, 255, 255), -1)
        cv2.putText(
            self.im,
            f"Distance M: {distance_m:.2f}m",
            (20, 50),
            0,
            0.8,
            (0, 0, 0),
            2,
            cv2.LINE_AA,
        )

        (text_width_mm, text_height_mm), _ = cv2.getTextSize(f"Distance MM: {distance_mm:.2f}mm", 0, 0.8, 2)
        cv2.rectangle(self.im, (15, 75), (15 + text_width_mm + 10, 75 + text_height_mm + 20), (255, 255, 255), -1)
        cv2.putText(
            self.im,
            f"Distance MM: {distance_mm:.2f}mm",
            (20, 100),
            0,
            0.8,
            (0, 0, 0),
            2,
            cv2.LINE_AA,
        )

        cv2.line(self.im, centroids[0], centroids[1], line_color, 3)
        cv2.circle(self.im, centroids[0], 6, centroid_color, -1)
        cv2.circle(self.im, centroids[1], 6, centroid_color, -1)

    def visioneye(self, box, center_point, color=(235, 219, 11), pin_color=(255, 0, 255), thickness=2, pins_radius=10):
        """
        Function for pinpoint human-vision eye mapping and plotting.

        Args:
            box (list): Bounding box coordinates
            center_point (tuple): center point for vision eye view
            color (tuple): object centroid and line color value
            pin_color (tuple): visioneye point color value
            thickness (int): int value for line thickness
            pins_radius (int): visioneye point radius value
        """
        center_bbox = int((box[0] + box[2]) / 2), int((box[1] + box[3]) / 2)
        cv2.circle(self.im, center_point, pins_radius, pin_color, -1)
        cv2.circle(self.im, center_bbox, pins_radius, color, -1)
        cv2.line(self.im, center_point, center_bbox, color, thickness)