feat: add Tier4Viewer (#14)

Signed-off-by: ktro2828 <[email protected]>

docs/apis/common.md

@@ -1,8 +1,6 @@
 # `common`
 
 <!-- prettier-ignore-start -->
-::: t4_devkit.common.color
-
 ::: t4_devkit.common.geometry
 
 ::: t4_devkit.common.io

docs/apis/viewer.md

@@ -0,0 +1,3 @@
+# Viewer
+
+::: t4_devkit.viewer

mkdocs.yaml

@@ -10,6 +10,7 @@ nav:
       - TIER IV: apis/tier4.md
       - Schema: apis/schema.md
       - DataClass: apis/dataclass.md
+      - Viewer: apis/viewer.md
       - Common: apis/common.md
 
 theme:

t4_devkit/dataclass/pointcloud.py

@@ -12,7 +12,7 @@
 
     from t4_devkit.typing import NDArrayFloat, NDArrayU8
 
-__all__ = ["LidarPointCloud", "RadarPointCloud", "SegmentationPointCloud"]
+__all__ = ["PointCloud", "LidarPointCloud", "RadarPointCloud", "SegmentationPointCloud"]
 
 
 @dataclass

t4_devkit/tier4.py

@@ -12,7 +12,6 @@
 from PIL import Image
 from pyquaternion import Quaternion
 
-from t4_devkit.common.color import distance_color
 from t4_devkit.common.geometry import is_box_in_image, view_points
 from t4_devkit.common.timestamp import sec2us, us2sec
 from t4_devkit.dataclass import (
@@ -25,6 +24,7 @@
     convert_label,
 )
 from t4_devkit.schema import SchemaName, SensorModality, VisibilityLevel, build_schema
+from t4_devkit.viewer import distance_color
 
 if TYPE_CHECKING:
     from rerun.blueprint.api import BlueprintLike, Container, SpaceView
@@ -1287,8 +1287,8 @@ def _render_sensor_calibration(self, sample_data_token: str) -> None:
                 f"world/ego_vehicle/{sensor_name}",
                 rr.Pinhole(
                     image_from_camera=calibrated_sensor.camera_intrinsic,
-                    width=sample_data.width,
-                    height=sample_data.height,
+                    # width=sample_data.width,
+                    # height=sample_data.height,
                 ),
                 static=True,
             )

t4_devkit/viewer/__init__.py

@@ -0,0 +1,2 @@
+from .color import *  # noqa
+from .viewer import *  # noqa

t4_devkit/viewer/rendering_data.py

@@ -0,0 +1,107 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+import numpy as np
+import rerun as rr
+
+if TYPE_CHECKING:
+    from t4_devkit.dataclass import Box2D, Box3D
+    from t4_devkit.typing import RoiType, SizeType, TranslationType, VelocityType
+
+
+class BoxData3D:
+    """A class to store 3D boxes data for rendering."""
+
+    def __init__(self) -> None:
+        self._centers: list[TranslationType] = []
+        self._rotations: list[rr.Quaternion] = []
+        self._sizes: list[SizeType] = []
+        self._class_ids: list[int] = []
+        self._uuids: list[int] = []
+        self._velocities: list[VelocityType] = []
+
+    def append(self, box: Box3D) -> None:
+        """Append a 3D box data.
+
+        Args:
+            box (Box3D): `Box3D` object.
+        """
+        self._centers.append(box.position)
+
+        rotation_xyzw = np.roll(box.rotation.q, shift=-1)
+        self._rotations.append(rr.Quaternion(xyzw=rotation_xyzw))
+
+        width, length, height = box.size
+        self._sizes.append((length, width, height))
+
+        self._class_ids.append(box.semantic_label.label.value)
+
+        if box.uuid is not None:
+            self._uuids.append(box.uuid[:6])
+
+        if box.velocity is not None:
+            self._velocities.append(box.velocity)
+
+    def as_boxes3d(self) -> rr.Boxes3D:
+        """Return 3D boxes data as a `rr.Boxes3D`.
+
+        Returns:
+            `rr.Boxes3D` object.
+        """
+        labels = None if len(self._uuids) == 0 else self._uuids
+        return rr.Boxes3D(
+            sizes=self._sizes,
+            centers=self._centers,
+            rotations=self._rotations,
+            labels=labels,
+            class_ids=self._class_ids,
+        )
+
+    def as_arrows3d(self) -> rr.Arrows3D:
+        """Return velocities data as a `rr.Arrows3D`.
+
+        Returns:
+            `rr.Arrows3D` object.
+        """
+        return rr.Arrows3D(
+            vectors=self._velocities,
+            origins=self._centers,
+            class_ids=self._class_ids,
+        )
+
+
+class BoxData2D:
+    """A class to store 2D boxes data for rendering."""
+
+    def __init__(self) -> None:
+        self._rois: list[RoiType] = []
+        self._uuids: list[str] = []
+        self._class_ids: list[int] = []
+
+    def append(self, box: Box2D) -> None:
+        """Append a 2D box data.
+
+        Args:
+            box (Box2D): `Box2D` object.
+        """
+        self._rois.append(box.roi.roi)
+
+        self._class_ids.append(box.semantic_label.label.value)
+
+        if box.uuid is not None:
+            self._uuids.append(box.uuid)
+
+    def as_boxes2d(self) -> rr.Boxes2D:
+        """Return 2D boxes data as a `rr.Boxes2D`.
+
+        Returns:
+            `rr.Boxes2D` object.
+        """
+        labels = None if len(self._uuids) == 0 else self._uuids
+        return rr.Boxes2D(
+            array=self._rois,
+            array_format=rr.Box2DFormat.XYXY,
+            labels=labels,
+            class_ids=self._class_ids,
+        )