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Merged
ktro2828 merged 1 commit into from
Jun 2, 2026
Merged

feat(viewer): add an option whether to render map #278

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35 changes: 32 additions & 3 deletions t4_devkit/cli/visualize.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,11 +44,20 @@ def scene(
help="Output directory to save recorded .rrd file.",
),
] = None,
show_map: Annotated[
bool,
typer.Option(
...,
"-m",
"--map",
help="Whether to render the map.",
),
] = False,
) -> None:
_create_dir(output)

t4 = T4Devkit(data_root, revision=revision, verbose=False)
t4.render_scene(future_seconds=future, save_dir=output)
t4.render_scene(future_seconds=future, save_dir=output, show_map=show_map)


@cli.command("instance", help="Visualize a particular instance in the corresponding scene.")
Expand Down Expand Up @@ -79,11 +88,22 @@ def instance(
help="Output directory to save recorded .rrd file.",
),
] = None,
show_map: Annotated[
bool,
typer.Option(
...,
"-m",
"--map",
help="Whether to render the map.",
),
] = False,
) -> None:
_create_dir(output)

t4 = T4Devkit(data_root, revision=revision, verbose=False)
t4.render_instance(instance_token=instance, future_seconds=future, save_dir=output)
t4.render_instance(
instance_token=instance, future_seconds=future, save_dir=output, show_map=show_map
)


@cli.command("pointcloud", help="Visualize pointcloud in the corresponding scene.")
Expand All @@ -104,11 +124,20 @@ def pointcloud(
help="Output directory to save recorded .rrd file.",
),
] = None,
show_map: Annotated[
bool,
typer.Option(
...,
"-m",
"--map",
help="Whether to render the map.",
),
] = False,
) -> None:
_create_dir(output)

t4 = T4Devkit(data_root, revision=revision, verbose=False)
t4.render_pointcloud(save_dir=output)
t4.render_pointcloud(save_dir=output, show_map=show_map)


def _create_dir(dir_path: str | None) -> None:
Expand Down
16 changes: 12 additions & 4 deletions t4_devkit/helper/rendering.py
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Original file line number Diff line number Diff line change
Expand Up @@ -149,6 +149,7 @@ def render_scene(
max_time_seconds: float = np.inf,
future_seconds: float = 0.0,
save_dir: str | None = None,
show_map: bool = False,
) -> None:
"""Render specified scene.

Expand All @@ -157,6 +158,7 @@ def render_scene(
future_seconds (float, optional): Future time in [s].
save_dir (str | None, optional): Directory path to save the recording.
Viewer will be spawned if it is None, otherwise not.
show_map (bool, optional): Whether to render the map.
"""
# search first sample data tokens
first_lidar_tokens: list[str] = [
Expand All @@ -179,7 +181,8 @@ def render_scene(
contents = self._load_contents(RenderingMode.SCENE)
viewer = self._init_viewer(app_id, contents=contents, render_ann=True, save_dir=save_dir)

self._try_render_map(viewer)
if show_map:
self._try_render_map(viewer)

scene: Scene = self._t4.scene[0]
first_sample: Sample = self._t4.get("sample", scene.first_sample_token)
Expand Down Expand Up @@ -233,6 +236,7 @@ def render_instance(
*,
future_seconds: float = 0.0,
save_dir: str | None = None,
show_map: bool = False,
) -> None:
"""Render particular instance.

Expand All @@ -241,7 +245,7 @@ def render_instance(
future_seconds (float, optional): Future time in [s].
save_dir (str | None, optional): Directory path to save the recording.
Viewer will be spawned if it is None, otherwise not.

show_map (bool, optional): Whether to render the map.
"""
instance_tokens = [instance_token] if isinstance(instance_token, str) else instance_token

Expand Down Expand Up @@ -293,7 +297,8 @@ def render_instance(
contents = self._load_contents(RenderingMode.INSTANCE)
viewer = self._init_viewer(app_id, contents=contents, render_ann=True, save_dir=save_dir)

self._try_render_map(viewer)
if show_map:
self._try_render_map(viewer)

pointcloud_color_mode = (
PointCloudColorMode.SEGMENTATION
Expand Down Expand Up @@ -344,13 +349,15 @@ def render_pointcloud(
*,
max_time_seconds: float = np.inf,
save_dir: str | None = None,
show_map: bool = False,
) -> None:
"""Render pointcloud on 3D and 2D view.

Args:
max_time_seconds (float, optional): Max time length to be rendered [s].
save_dir (str | None, optional): Directory path to save the recording.
Viewer will be spawned if it is None, otherwise not.
show_map (bool, optional): Whether to render the map.

TODO:
Add an option of rendering radar channels.
Expand Down Expand Up @@ -379,7 +386,8 @@ def render_pointcloud(
)
viewer = self._init_viewer(app_id, contents=contents, render_ann=False, save_dir=save_dir)

self._try_render_map(viewer)
if show_map:
self._try_render_map(viewer)

# TODO: support rendering segmentation pointcloud on camera
futures = self._render_lidar_and_ego(
Expand Down
9 changes: 9 additions & 0 deletions t4_devkit/tier4.py
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Original file line number Diff line number Diff line change
Expand Up @@ -747,18 +747,21 @@ def render_scene(
max_time_seconds: float = np.inf,
future_seconds: float = 0.0,
save_dir: str | None = None,
show_map: bool = False,
) -> None:
"""Render specified scene.

Args:
max_time_seconds (float, optional): Max time length to be rendered [s].
future_seconds (float, optional): Future time in [s].
save_dir (str | None, optional): Directory path to save the recording.
show_map (bool, optional): Whether to render the map.
"""
self._rendering_helper.render_scene(
max_time_seconds=max_time_seconds,
future_seconds=future_seconds,
save_dir=save_dir,
show_map=show_map,
)

def render_instance(
Expand All @@ -767,38 +770,44 @@ def render_instance(
*,
future_seconds: float = 0.0,
save_dir: str | None = None,
show_map: bool = False,
) -> None:
Comment thread
ktro2828 marked this conversation as resolved.
"""Render particular instance.

Args:
instance_token (str | Sequence[str]): Instance token(s).
future_seconds (float, optional): Future time in [s].
save_dir (str | None, optional): Directory path to save the recording.
show_map (bool, optional): Whether to render the map.
"""
self._rendering_helper.render_instance(
instance_token=instance_token,
future_seconds=future_seconds,
save_dir=save_dir,
show_map=show_map,
)

def render_pointcloud(
self,
*,
max_time_seconds: float = np.inf,
save_dir: str | None = None,
show_map: bool = False,
) -> None:
Comment thread
ktro2828 marked this conversation as resolved.
"""Render pointcloud on 3D and 2D view.

Args:
max_time_seconds (float, optional): Max time length to be rendered [s].
save_dir (str | None, optional): Directory path to save the recording.
show_map (bool, optional): Whether to render the map.

TODO:
Add an option of rendering radar channels.
"""
self._rendering_helper.render_pointcloud(
max_time_seconds=max_time_seconds,
save_dir=save_dir,
show_map=show_map,
)


Expand Down
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