refacor: refactor viewer class

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

t4_devkit/tier4.py

@@ -904,7 +904,7 @@ def _init_viewer(
             else None
         )
 
-        viewer = Tier4Viewer(application_id, cameras=cameras, without_3d=not render_3d, spawn=spawn)
+        viewer = Tier4Viewer(application_id, cameras=cameras, with_3d=render_3d, spawn=spawn)
 
         if render_annotation:
             viewer = viewer.with_labels(self._label2id)

t4_devkit/viewer/viewer.py

@@ -71,9 +71,9 @@ class Tier4Viewer:
     def __init__(
         self,
         app_id: str,
-        cameras: Sequence[str] | None = None,
         *,
-        without_3d: bool = False,
+        cameras: Sequence[str] | None = None,
+        with_3d: bool = True,
         spawn: bool = True,
     ) -> None:
         """Construct a new object.
@@ -82,7 +82,7 @@ def __init__(
             app_id (str): Application ID.
             cameras (Sequence[str] | None, optional): Sequence of camera names.
                 If `None`, any 2D spaces will not be visualized.
-            without_3d (bool, optional): Whether to render objects without the 3D space.
+            with_3d (bool, optional): Whether to render objects with the 3D space.
             spawn (bool, optional): Whether to spawn the viewer.
 
         Examples:
@@ -92,16 +92,18 @@ def __init__(
             # Rendering 3D space only
             >>> viewer = Tier4Viewer("myapp")
             # Rendering 2D space only
-            >>> viewer = Tier4Viewer("myapp", cameras=["camera0", "camera1"], without_3d=True)
+            >>> viewer = Tier4Viewer("myapp", cameras=["camera0", "camera1"], with_3d=False)
         """
         self.app_id = app_id
-        self.without_3d = without_3d
         self.cameras = cameras
+        self.with_3d = with_3d
+        self.with_2d = self.cameras is not None
 
-        assert self.cameras is not None or not without_3d
+        if not self.with_3d and not self.with_2d:
+            raise ValueError("At least one of 3D or 2D spaces must be rendered.")
 
-        view_container = []
-        if not without_3d:
+        view_container: list[rrb.Container | rrb.SpaceView] = []
+        if self.with_3d:
             view_container.extend(
                 [
                     rrb.Horizontal(
@@ -112,7 +114,7 @@ def __init__(
                 ]
             )
 
-        if self.cameras is not None:
+        if self.with_2d:
             camera_space_views = [
                 rrb.Spatial2DView(name=name, origin=format_entity(self.ego_entity, name))
                 for name in self.cameras
@@ -169,12 +171,17 @@ def save(self, save_dir: str) -> None:
         rr.save(filepath, default_blueprint=self.blueprint)
 
     def render_box3ds(self, seconds: float, boxes: Sequence[Box3D]) -> None:
-        """Render 3D boxes.
+        """Render 3D boxes. Note that if the viewer initialized with `with_3d=False`,
+        no 3D box will be rendered.
 
         Args:
             seconds (float): Timestamp in [sec].
             boxes (Sequence[Box3D]): Sequence of `Box3D`s.
         """
+        if not self.with_3d:
+            warnings.warn("There is no camera space.")
+            return
+
         rr.set_time_seconds(self.timeline, seconds)
 
         box_data: dict[str, BoxData3D] = {}
@@ -197,13 +204,14 @@ def render_box3ds(self, seconds: float, boxes: Sequence[Box3D]) -> None:
             )
 
     def render_box2ds(self, seconds: float, boxes: Sequence[Box2D]) -> None:
-        """Render 2D boxes.
+        """Render 2D boxes. Note that if the viewer initialized without `cameras=None`,
+        no 2D box will be rendered.
 
         Args:
             seconds (float): Timestamp in [sec].
             boxes (Sequence[Box2D]): Sequence of `Box2D`s.
         """
-        if self.cameras is None:
+        if not self.with_2d:
             warnings.warn("There is no camera space.")
             return
 
@@ -240,7 +248,7 @@ def render_segmentation2d(
             class_ids (Sequence[int]): Sequence of label ids.
             uuids (Sequence[str | None] | None, optional): Sequence of each instance ID.
         """
-        if self.cameras is None or camera not in self.cameras:
+        if not self.with_2d or camera not in self.cameras:
             warnings.warn(f"There is no camera space: {camera}")
             return
 
@@ -265,6 +273,7 @@ def render_pointcloud(self, seconds: float, channel: str, pointcloud: PointCloud
             channel (str): Name of the pointcloud sensor channel.
             pointcloud (PointCloudLike): Inherence object of `PointCloud`.
         """
+        # TODO(ktro2828): add support of rendering pointcloud on images
         rr.set_time_seconds(self.timeline, seconds)
 
         colors = distance_color(np.linalg.norm(pointcloud.points[:3].T, axis=1))
@@ -284,7 +293,7 @@ def render_image(self, seconds: float, camera: str, image: str | NDArrayU8) -> N
             camera (str): Name of the camera channel.
             image (str | NDArrayU8): Image tensor or path of the image file.
         """
-        if self.cameras is None or camera not in self.cameras:
+        if not self.with_2d or camera not in self.cameras:
             warnings.warn(f"There is no camera space: {camera}")
             return
 
@@ -306,25 +315,13 @@ def _render_ego_with_schema(self, ego_pose: EgoPose) -> None:
         Args:
             ego_pose (EgoPose): `EgoPose` object.
         """
-        rr.set_time_seconds(self.timeline, us2sec(ego_pose.timestamp))
-
-        rotation_xyzw = np.roll(ego_pose.rotation.q, shift=-1)
-        rr.log(
-            self.ego_entity,
-            rr.Transform3D(
-                translation=ego_pose.translation,
-                rotation=rr.Quaternion(xyzw=rotation_xyzw),
-                relation=rr.TransformRelation.ParentFromChild,
-            ),
+        self._render_ego_without_schema(
+            seconds=us2sec(ego_pose.timestamp),
+            translation=ego_pose.translation,
+            rotation=ego_pose.rotation,
+            geocoordinate=ego_pose.geocoordinate,
         )
 
-        if ego_pose.geocoordinate is not None:
-            latitude, longitude, _ = ego_pose.geocoordinate
-            rr.log(
-                self.geocoordinate_entity,
-                rr.GeoPoints(lat_lon=(latitude, longitude), radii=rr.Radius.ui_points(10.0)),
-            )
-
     @render_ego.register
     def _render_ego_without_schema(
         self,
@@ -333,6 +330,16 @@ def _render_ego_without_schema(
         rotation: RotationType,
         geocoordinate: GeoCoordinateType | None = None,
     ) -> None:
+        """Render an ego pose.
+
+        Args:
+            seconds (float): Timestamp in [sec].
+            translation (TranslationType): 3D position in the map coordinate system
+              , in the order of (x, y, z) in [m].
+            rotation (RotationType): Rotation in the map coordinate system.
+            geocoordinate (GeoCoordinateType | None, optional): Coordinates in the WGS 84
+                reference ellipsoid (latitude, longitude, altitude) in degrees and meters.
+        """
         rr.set_time_seconds(self.timeline, seconds)
 
         rotation_xyzw = np.roll(rotation.q, shift=-1)
@@ -368,24 +375,14 @@ def _render_calibration_with_schema(
             sensor (Sensor): `Sensor` object.
             calibration (CalibratedSensor): `CalibratedSensor` object.
         """
-        rotation_xyzw = np.roll(calibration.rotation.q, shift=-1)
-
-        rr.log(
-            format_entity(self.ego_entity, sensor.channel),
-            rr.Transform3D(
-                translation=calibration.translation,
-                rotation=rr.Quaternion(xyzw=rotation_xyzw),
-            ),
-            static=True,
+        self._render_calibration_without_schema(
+            channel=sensor.channel,
+            modality=sensor.modality,
+            translation=calibration.translation,
+            rotation=calibration.rotation,
+            camera_intrinsic=calibration.camera_intrinsic,
         )
 
-        if sensor.modality == SensorModality.CAMERA:
-            rr.log(
-                format_entity(self.ego_entity, sensor.channel),
-                rr.Pinhole(image_from_camera=calibration.camera_intrinsic),
-                static=True,
-            )
-
     @render_calibration.register
     def _render_calibration_without_schema(
         self,
@@ -419,9 +416,3 @@ def _render_calibration_without_schema(
                 rr.Pinhole(image_from_camera=camera_intrinsic),
                 static=True,
             )
-        if modality == SensorModality.CAMERA:
-            rr.log(
-                format_entity(self.ego_entity, channel),
-                rr.Pinhole(image_from_camera=camera_intrinsic),
-                static=True,
-            )