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helper

RenderingHelper 

RenderingHelper(t4: Tier4)

Help Tier4 class with rendering tasks.

Construct a new object.

Parameters:

  • t4

    (Tier4) –

    Tier4 instance.

render_scene 

render_scene(
    *,
    max_time_seconds: float = np.inf,
    future_seconds: float = 0.0,
    save_dir: str | None = None,
) -> None

Render specified scene.

Parameters:

  • max_time_seconds
    (float, default: inf ) –

    Max time length to be rendered [s].

  • future_seconds
    (float, default: 0.0 ) –

    Future time in [s].

  • save_dir
    (str | None, default: None ) –

    Directory path to save the recording. Viewer will be spawned if it is None, otherwise not.

render_instance 

render_instance(
    instance_token: str | Sequence[str],
    *,
    future_seconds: float = 0.0,
    save_dir: str | None = None,
) -> None

Render particular instance.

Parameters:

  • instance_token
    (str | Sequence[str]) –

    Instance token(s).

  • future_seconds
    (float, default: 0.0 ) –

    Future time in [s].

  • save_dir
    (str | None, default: None ) –

    Directory path to save the recording. Viewer will be spawned if it is None, otherwise not.

render_pointcloud 

render_pointcloud(
    *,
    max_time_seconds: float = np.inf,
    ignore_distortion: bool = True,
    save_dir: str | None = None,
) -> None

Render pointcloud on 3D and 2D view.

Parameters:

  • max_time_seconds
    (float, default: inf ) –

    Max time length to be rendered [s].

  • ignore_distortion
    (bool, default: True ) –

    Whether to ignore distortion parameters.

  • save_dir
    (str | None, default: None ) –

    Directory path to save the recording. Viewer will be spawned if it is None, otherwise not.

TODO

Add an option of rendering radar channels.

TimeseriesHelper 

TimeseriesHelper(t4: Tier4)

Help Tier4 class with timeseries relevant operations.

Construct a new object.

Parameters:

  • t4

    (Tier4) –

    Tier4 instance.

get_sample_annotations_until 

get_sample_annotations_until(
    instance_token: str, sample_token: str, seconds: float
) -> tuple[list[int], list[SampleAnnotation]]

Return a list of sample annotations until the specified seconds.

If seconds>=0 explores future, otherwise past.

Parameters:

  • instance_token
    (str) –

    Instance token of any sample annotations.

  • sample_token
    (str) –

    Start sample token.

  • seconds
    (float) –

    Time seconds until. If >=0 explore future, otherwise past.

Returns:

get_object_anns_until 

get_object_anns_until(
    instance_token: str,
    sample_data_token: str,
    seconds: float,
) -> tuple[list[int], list[ObjectAnn]]

Return a list of object anns until the specified seconds.

If seconds>=0 explores future, otherwise past.

Parameters:

  • instance_token
    (str) –

    Instance token of any object anns.

  • sample_data_token
    (str) –

    Start sample data token.

  • seconds
    (float) –

    Time seconds until. If >=0 explore future, otherwise past.

Returns:

  • tuple[list[int], list[ObjectAnn]] –

    List of timestamps and associated object annotation records of the specified instance.