feat: apply Tier4Viewer in Tier4 rendering

Signed-off-by: ktro2828 <[email protected]>
tier4 · Oct 22, 2024 · 8179df6 · 8179df6
1 parent 8aacfe1
commit 8179df6
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Showing 4 changed files with 177 additions and 275 deletions.
diff --git a/t4_devkit/dataclass/pointcloud.py b/t4_devkit/dataclass/pointcloud.py
@@ -3,7 +3,7 @@
 import struct
 from abc import abstractmethod
 from dataclasses import dataclass
-from typing import TYPE_CHECKING, ClassVar
+from typing import TYPE_CHECKING, ClassVar, TypeVar
 
 import numpy as np
 
@@ -12,7 +12,13 @@
 
     from t4_devkit.typing import NDArrayFloat, NDArrayU8
 
-__all__ = ["PointCloud", "LidarPointCloud", "RadarPointCloud", "SegmentationPointCloud"]
+__all__ = [
+    "PointCloud",
+    "LidarPointCloud",
+    "RadarPointCloud",
+    "SegmentationPointCloud",
+    "PointCloudLike",
+]
 
 
 @dataclass
@@ -196,3 +202,6 @@ def from_file(cls, point_filepath: str, label_filepath: str) -> Self:
         points = scan.reshape((-1, 5))[:, : cls.num_dims()]
         labels = np.fromfile(label_filepath, dtype=np.uint8)
         return cls(points.T, labels)
+
+
+PointCloudLike = TypeVar("PointCloudLike", bound=PointCloud)