refactor: rename Tier4Viewer to RerunViewer (#58)

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

docs/tutorials/render.md

@@ -53,15 +53,15 @@ If you don't want to spawn the viewer, please specify `show=False` as below:
 >>> t4.render_scene(scene_token, save_dir=<DIR_TO_SAVE>, show=False)
 ```
 
-## Rendering with `Tier4Viewer`
+## Rendering with `RerunViewer`
 
-If you want to visualize your components, such as boxes that your ML-model estimated, `Tier4Viewer` allows you to visualize these components.  
+If you want to visualize your components, such as boxes that your ML-model estimated, `RerunViewer` allows you to visualize these components.  
 For details, please refer to the API references.
 
 ```python
->>> from t4_devkit.viewer import Tier4Viewer
+>>> from t4_devkit.viewer import RerunViewer
 # You need to specify `cameras` if you want to 2D spaces
->>> viewer = Tier4Viewer(app_id, cameras=<CAMERA_NAMES:[str;N]>)
+>>> viewer = RerunViewer(app_id, cameras=<CAMERA_NAMES:[str;N]>)
 # Rendering 3D boxes
 >>> viewer.render_box3ds(seconds, box3ds)
 # Rendering 2D boxes

t4_devkit/tier4.py

@@ -21,7 +21,7 @@
     ShapeType,
 )
 from t4_devkit.schema import SchemaName, SensorModality, VisibilityLevel, build_schema
-from t4_devkit.viewer import Tier4Viewer, distance_color, format_entity
+from t4_devkit.viewer import RerunViewer, distance_color, format_entity
 
 if TYPE_CHECKING:
     from t4_devkit.typing import CamIntrinsicType, NDArrayF64, NDArrayU8, VelocityType
@@ -882,7 +882,7 @@ def _init_viewer(
         render_2d: bool = True,
         render_annotation: bool = True,
         spawn: bool = False,
-    ) -> Tier4Viewer:
+    ) -> RerunViewer:
         """Initialize rendering viewer.
 
         Args:
@@ -904,7 +904,7 @@ def _init_viewer(
             else None
         )
 
-        viewer = Tier4Viewer(application_id, cameras=cameras, with_3d=render_3d, spawn=spawn)
+        viewer = RerunViewer(application_id, cameras=cameras, with_3d=render_3d, spawn=spawn)
 
         if render_annotation:
             viewer = viewer.with_labels(self._label2id)
@@ -915,7 +915,7 @@ def _init_viewer(
 
     def _render_lidar_and_ego(
         self,
-        viewer: Tier4Viewer,
+        viewer: RerunViewer,
         first_lidar_token: str,
         max_timestamp_us: float,
         *,
@@ -925,7 +925,7 @@ def _render_lidar_and_ego(
         """Render lidar pointcloud and ego transform.
 
         Args:
-            viewer (Tier4Viewer): Viewer object.
+            viewer (RerunViewer): Viewer object.
             first_lidar_token (str): First sample data token corresponding to the lidar.
             max_timestamp_us (float): Max time length in [us].
             project_points (bool, optional): Whether to project 3d points on 2d images.
@@ -961,14 +961,14 @@ def _render_lidar_and_ego(
 
     def _render_radars(
         self,
-        viewer: Tier4Viewer,
+        viewer: RerunViewer,
         first_radar_tokens: list[str],
         max_timestamp_us: float,
     ) -> None:
         """Render radar pointcloud.
 
         Args:
-            viewer (Tier4Viewer): Viewer object.
+            viewer (RerunViewer): Viewer object.
             first_radar_tokens (list[str]): List of first sample data tokens corresponding to radars.
             max_timestamp_us (float): Max time length in [us].
         """
@@ -993,12 +993,12 @@ def _render_radars(
                 current_radar_token = sample_data.next
 
     def _render_cameras(
-        self, viewer: Tier4Viewer, first_camera_tokens: list[str], max_timestamp_us: float
+        self, viewer: RerunViewer, first_camera_tokens: list[str], max_timestamp_us: float
     ) -> None:
         """Render camera images.
 
         Args:
-            viewer (Tier4Viewer): Viewer object.
+            viewer (RerunViewer): Viewer object.
             first_camera_tokens (list[str]): List of first sample data tokens corresponding to cameras.
             max_timestamp_us (float): Max time length in [us].
         """
@@ -1038,7 +1038,7 @@ def _render_points_on_cameras(
             ignore_distortion (bool, optional): Whether to ignore distortion parameters.
 
         TODO:
-            Replace operation by `Tier4Viewer`.
+            Replace operation by `RerunViewer`.
         """
         point_sample_data: SampleData = self.get("sample_data", point_sample_data_token)
         sample: Sample = self.get("sample", point_sample_data.sample_token)
@@ -1060,10 +1060,10 @@ def _render_points_on_cameras(
 
             sensor_name = channel
             rr.set_time_seconds("timestamp", us2sec(camera_sample_data.timestamp))
-            rr.log(format_entity(Tier4Viewer.ego_entity, sensor_name), rr.Image(img))
+            rr.log(format_entity(RerunViewer.ego_entity, sensor_name), rr.Image(img))
 
             rr.log(
-                format_entity(Tier4Viewer.ego_entity, sensor_name, "pointcloud"),
+                format_entity(RerunViewer.ego_entity, sensor_name, "pointcloud"),
                 rr.Points2D(
                     positions=points_on_img.T,
                     colors=distance_color(depths),
@@ -1072,15 +1072,15 @@ def _render_points_on_cameras(
 
     def _render_annotation_3ds(
         self,
-        viewer: Tier4Viewer,
+        viewer: RerunViewer,
         first_sample_token: str,
         max_timestamp_us: float,
         instance_token: str | None = None,
     ) -> None:
         """Render annotated 3D boxes.
 
         Args:
-            viewer (Tier4Viewer): Viewer object.
+            viewer (RerunViewer): Viewer object.
             first_sample_token (str): First sample token.
             max_timestamp_us (float): Max time length in [us].
             instance_token (str | None, optional): Specify if you want to render only particular instance.
@@ -1107,15 +1107,15 @@ def _render_annotation_3ds(
 
     def _render_annotation_2ds(
         self,
-        viewer: Tier4Viewer,
+        viewer: RerunViewer,
         first_sample_token: str,
         max_timestamp_us: float,
         instance_token: str | None = None,
     ) -> None:
         """Render annotated 2D boxes.
 
         Args:
-            viewer (Tier4Viewer): Viewer object.
+            viewer (RerunViewer): Viewer object.
             first_sample_token (str): First sample token.
             max_timestamp_us (float): Max time length in [us].
             instance_token (str | None, optional): Specify if you want to render only particular instance.
@@ -1175,11 +1175,11 @@ def _render_annotation_2ds(
             # TODO: add support of rendering keypoints
             current_sample_token = sample.next
 
-    def _render_sensor_calibration(self, viewer: Tier4Viewer, sample_data_token: str) -> None:
+    def _render_sensor_calibration(self, viewer: RerunViewer, sample_data_token: str) -> None:
         """Render a fixed calibrated sensor transform.
 
         Args:
-            viewer (Tier4Viewer): Viewer object.
+            viewer (RerunViewer): Viewer object.
             sample_data_token (str): First sample data token corresponding to the sensor.
         """
         sample_data: SampleData = self.get("sample_data", sample_data_token)

t4_devkit/viewer/viewer.py

@@ -29,7 +29,7 @@
         VelocityType,
     )
 
-__all__ = ["Tier4Viewer", "format_entity"]
+__all__ = ["RerunViewer", "format_entity"]
 
 
 def format_entity(root: str, *entities) -> str:
@@ -61,7 +61,7 @@ def format_entity(root: str, *entities) -> str:
         return osp.join(root, "/".join(entities))
 
 
-class Tier4Viewer:
+class RerunViewer:
     """A viewer class that renders some components powered by rerun."""
 
     # entity paths
@@ -88,13 +88,13 @@ def __init__(
             spawn (bool, optional): Whether to spawn the viewer.
 
         Examples:
-            >>> from t4_devkit.viewer import Tier4Viewer
+            >>> from t4_devkit.viewer import RerunViewer
             # Rendering both 3D/2D spaces
-            >>> viewer = Tier4Viewer("myapp", cameras=["camera0", "camera1"])
+            >>> viewer = RerunViewer("myapp", cameras=["camera0", "camera1"])
             # Rendering 3D space only
-            >>> viewer = Tier4Viewer("myapp")
+            >>> viewer = RerunViewer("myapp")
             # Rendering 2D space only
-            >>> viewer = Tier4Viewer("myapp", cameras=["camera0", "camera1"], with_3d=False)
+            >>> viewer = RerunViewer("myapp", cameras=["camera0", "camera1"], with_3d=False)
         """
         self.app_id = app_id
         self.cameras = cameras
@@ -148,7 +148,7 @@ def with_labels(self, label2id: dict[str, int]) -> Self:
 
         Examples:
             >>> label2id = {"car": 0, "pedestrian": 1}
-            >>> viewer = Tier4Viewer("myapp").with_labels(label2id)
+            >>> viewer = RerunViewer("myapp").with_labels(label2id)
         """
         self.label2id = label2id
 

tests/viewer/conftest.py

@@ -1,15 +1,17 @@
 import pytest
 
-from t4_devkit.viewer import Tier4Viewer
+from t4_devkit.viewer import RerunViewer
 
 
 @pytest.fixture(scope="module")
-def dummy_viewer(label2id) -> Tier4Viewer:
+def dummy_viewer(label2id) -> RerunViewer:
     """Return a dummy viewer.
 
     Returns:
-        `Tier4Viewer` without spawning.
+        `RerunViewer` without spawning.
     """
-    return Tier4Viewer("test_viewer", cameras=["camera"], spawn=False).with_labels(
-        label2id=label2id
-    )
+    return RerunViewer(
+        "test_viewer",
+        cameras=["camera"],
+        spawn=False,
+    ).with_labels(label2id=label2id)

tests/viewer/test_viewer.py

@@ -17,10 +17,10 @@ def test_format_entity() -> None:
 
 
 def test_render_box3ds(dummy_viewer, dummy_box3ds) -> None:
-    """Test rendering 3D boxes with `Tier4Viewer`.
+    """Test rendering 3D boxes with `RerunViewer`.
 
     Args:
-        dummy_viewer (Tier4Viewer): Viewer object.
+        dummy_viewer (RerunViewer): Viewer object.
         dummy_box3ds (list[Box3D]): List of 3D boxes.
     """
     seconds = 1.0  # [sec]
@@ -46,10 +46,10 @@ def test_render_box3ds(dummy_viewer, dummy_box3ds) -> None:
 
 
 def test_render_box2ds(dummy_viewer, dummy_box2ds) -> None:
-    """Test rendering 2D boxes with `Tier4Viewer`.
+    """Test rendering 2D boxes with `RerunViewer`.
 
     Args:
-        dummy_viewer (Tier4Viewer): Viewer object.
+        dummy_viewer (RerunViewer): Viewer object.
         dummy_box2ds (list[Box2D): List of 2D boxes.
     """
     seconds = 1.0  # [sec]
@@ -65,10 +65,10 @@ def test_render_box2ds(dummy_viewer, dummy_box2ds) -> None:
 
 
 def test_render_pointcloud(dummy_viewer) -> None:
-    """Test rendering pointcloud with `Tier4Viewer`.
+    """Test rendering pointcloud with `RerunViewer`.
 
     Args:
-        dummy_viewer (Tier4Viewer): Viewer object.
+        dummy_viewer (RerunViewer): Viewer object.
     """
     seconds = 1.0  # [sec]
 
@@ -77,10 +77,10 @@ def test_render_pointcloud(dummy_viewer) -> None:
 
 
 def test_render_ego(dummy_viewer) -> None:
-    """Test rendering ego pose with `Tier4Viewer`.
+    """Test rendering ego pose with `RerunViewer`.
 
     Args:
-        dummy_viewer (Tier4Viewer): Viewer object.
+        dummy_viewer (RerunViewer): Viewer object.
     """
     seconds = 1.0  # [sec]
 
@@ -100,10 +100,10 @@ def test_render_ego(dummy_viewer) -> None:
 
 
 def test_render_calibration(dummy_viewer) -> None:
-    """Test rendering sensor calibration with `Tier4Viewer`.
+    """Test rendering sensor calibration with `RerunViewer`.
 
     Args:
-        dummy_viewer (Tier4Viewer): Viewer object.
+        dummy_viewer (RerunViewer): Viewer object.
     """
     # without `Sensor` and `CalibratedSensor`
     channel = "camera"