docs: update documents

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

docs/apis/dataclass.md

@@ -1,13 +1,14 @@
 # `dataclass`
 
 <!-- prettier-ignore-start -->
-::: t4_devkit.dataclass.box
+
+::: t4_devkit.dataclass.label
     options:
-        filters: ["!BaseBox"]
         show_bases: false
 
-::: t4_devkit.dataclass.label
+::: t4_devkit.dataclass.box
     options:
+        filters: ["!BaseBox"]
         show_bases: false
 
 ::: t4_devkit.dataclass.pointcloud

docs/apis/schema.md

@@ -16,14 +16,7 @@
 
 ::: t4_devkit.schema.tables
     options:
-        members: ["SchemaBase"]
-        show_bases: false
-
----
-
-::: t4_devkit.schema.tables
-    options:
-        filters: ["!SchemaBase", "!FileFormat", "!SensorModality", "!VisibilityLevel"]
+        filters: ["!SchemaBase", "!FileFormat", "!SensorModality", "!VisibilityLevel", "!RLEMask"]
         show_root_toc_entry: false
         merge_init_into_class: false
         show_signature_annotations: false
@@ -35,7 +28,7 @@
 
 ::: t4_devkit.schema.tables
     options:
-        members: ["FileFormat", "SensorModality", "VisibilityLevel"]
+        members: ["FileFormat", "SensorModality", "VisibilityLevel", "RLEMask"]
         show_root_toc_entry: false
         merge_init_into_class: false
         show_signature_annotations: false

t4_devkit/dataclass/pointcloud.py

@@ -80,7 +80,11 @@ def transform(self, matrix: NDArrayFloat) -> None:
 
 @define
 class LidarPointCloud(PointCloud):
-    """A dataclass to represent lidar pointcloud."""
+    """A dataclass to represent lidar pointcloud.
+
+    Attributes:
+        points (NDArrayFloat): Points matrix in the shape of (4, N).
+    """
 
     @staticmethod
     def num_dims() -> int:
@@ -97,6 +101,12 @@ def from_file(cls, filepath: str) -> Self:
 
 @define
 class RadarPointCloud(PointCloud):
+    """A dataclass to represent radar pointcloud.
+
+    Attributes:
+        points (NDArrayFloat): Points matrix in the shape of (18, N).
+    """
+
     # class variables
     invalid_states: ClassVar[list[int]] = [0]
     dynprop_states: ClassVar[list[int]] = range(7)
@@ -194,6 +204,13 @@ def from_file(
 
 @define
 class SegmentationPointCloud(PointCloud):
+    """A dataclass to represent segmentation pointcloud.
+
+    Attributes:
+        points (NDArrayFloat): Points matrix in the shape of (4, N).
+        labels (NDArrayU8): Label matrix.
+    """
+
     labels: NDArrayU8 = field(converter=lambda x: np.asarray(x, dtype=np.uint8))
 
     @staticmethod

t4_devkit/dataclass/roi.py

@@ -12,36 +12,72 @@
 
 @define
 class Roi:
+    """A dataclass to represent 2D box ROI.
+
+    Attributes:
+        roi (RoiType): Box ROI in the order of (x, y, width, height).
+    """
+
     roi: RoiType = field(converter=tuple)
 
-    def __post_init__(self) -> None:
+    def __attrs_post_init__(self) -> None:
         assert len(self.roi) == 4, (
             "Expected roi is (x, y, width, height), " f"but got length with {len(self.roi)}."
         )
 
     @property
     def offset(self) -> tuple[int, int]:
+        """Return the xy offset from the image origin at the top left of the box.
+
+        Returns:
+            Top left corner (x, y).
+        """
         return self.roi[:2]
 
     @property
     def size(self) -> tuple[int, int]:
+        """Return the size of the box.
+
+        Returns:
+            Box size (width, height).
+        """
         return self.roi[2:]
 
     @property
     def width(self) -> int:
+        """Return the width of the box.
+
+        Returns:
+            Box width.
+        """
         return self.size[0]
 
     @property
     def height(self) -> int:
+        """Return the height of the box.
+
+        Returns:
+            Box height.
+        """
         return self.size[1]
 
     @property
     def center(self) -> tuple[int, int]:
+        """Return the center position of the box from the image origin.
+
+        Returns:
+            Center position of the box (cx, cy).
+        """
         ox, oy = self.offset
         w, h = self.size
         return ox + w // 2, oy + h // 2
 
     @property
     def area(self) -> int:
+        """Return the area of the box.
+
+        Returns:
+            Area of the box.
+        """
         w, h = self.size
         return w * h

t4_devkit/dataclass/transform.py

@@ -25,6 +25,12 @@
 
 @define
 class TransformBuffer:
+    """A buffer class to store transformation matrices.
+
+    Args:
+        buffer (dict[tuple[str, str], HomogeneousMatrix]): Matrix buffer whose key is `(src, dst)`.
+    """
+
     buffer: dict[tuple[str, str], HomogeneousMatrix] = field(factory=dict, init=False)
 
     def set_transform(self, matrix: HomogeneousMatrix) -> None:
@@ -43,19 +49,59 @@ def set_transform(self, matrix: HomogeneousMatrix) -> None:
             self.buffer[(dst, src)] = matrix.inv()
 
     def lookup_transform(self, src: str, dst: str) -> HomogeneousMatrix | None:
+        """Look up the transform matrix corresponding to the `src` and `dst` frame ID.
+
+        Args:
+            src (str): Source frame ID.
+            dst (str): Destination frame ID.
+
+        Returns:
+            Returns `HomogeneousMatrix` if the corresponding matrix can be found,
+                otherwise it returns `None`.
+        """
         if src == dst:
             return HomogeneousMatrix.as_identity(src)
         return self.buffer[(src, dst)] if (src, dst) in self.buffer else None
 
     def do_translate(self, src: str, dst: str, *args, **kwargs) -> TranslateItemLike | None:
+        """Translate specified items with the matrix corresponding to `src` and `dst` frame ID.
+
+        Args:
+            src (str): Source frame ID.
+            dst (str): Destination frame ID.
+
+        Returns:
+            TranslateItemLike | None: Returns translated items if the corresponding matrix can be found,
+                otherwise it returns `None`.
+        """
         tf_matrix = self.lookup_transform(src, dst)
         return tf_matrix.translate(*args, **kwargs) if tf_matrix is not None else None
 
     def do_rotate(self, src: str, dst: str, *args, **kwargs) -> RotateItemLike | None:
+        """Rotate specified items with the matrix corresponding to `src` and `dst` frame ID.
+
+        Args:
+            src (str): Source frame ID.
+            dst (str): Destination frame ID.
+
+        Returns:
+            TranslateItemLike | None: Returns rotated items if the corresponding matrix can be found,
+                otherwise it returns `None`.
+        """
         tf_matrix = self.lookup_transform(src, dst)
         return tf_matrix.rotate(*args, **kwargs) if tf_matrix is not None else None
 
     def do_transform(self, src: str, dst: str, *args, **kwargs) -> TransformItemLike | None:
+        """Transform specified items with the matrix corresponding to `src` and `dst` frame ID.
+
+        Args:
+            src (str): Source frame ID.
+            dst (str): Destination frame ID.
+
+        Returns:
+            TranslateItemLike | None: Returns transformed items if the corresponding matrix can be found,
+                otherwise it returns `None`.
+        """
         tf_matrix = self.lookup_transform(src, dst)
         return tf_matrix.transform(*args, **kwargs) if tf_matrix is not None else None
 

t4_devkit/schema/tables/sample.py

@@ -22,7 +22,6 @@ class Sample(SchemaBase):
         prev (str): Foreign key pointing the sample that precedes this in time. Empty if start of scene.
 
     Shortcuts:
-    ---------
         data (dict[str, str]): Sensor channel and its token.
             This should be set after instantiated.
         ann_3ds (list[str]): List of foreign keys pointing the sample annotations.

t4_devkit/schema/tables/sample_annotation.py

@@ -50,7 +50,6 @@ class SampleAnnotation(SchemaBase):
             given as [ax, ay, av] in [m/s^2].
 
     Shortcuts:
-    ---------
         category_name (str): Category name. This should be set after instantiated.
     """
 

t4_devkit/schema/tables/sample_data.py

@@ -85,7 +85,6 @@ class SampleData(SchemaBase):
         is_valid (bool): True if this data is valid, else False. Invalid data should be ignored.
 
     Shortcuts:
-    ---------
         modality (SensorModality): Sensor modality. This should be set after instantiated.
         channel (str): Sensor channel. This should be set after instantiated.
     """

t4_devkit/schema/tables/sensor.py

@@ -36,7 +36,6 @@ class Sensor(SchemaBase):
         modality (SensorModality): Sensor modality.
 
     Shortcuts:
-    ---------
         first_sd_token (str): The first sample data token corresponding to its sensor channel.
     """