Visualization
Rendering with Tier4
If you want to visualize annotation results, Tier4
supports some rendering methods as below.
Rendering Scene
Rendering Instance(s)
You can also render multiple instances at once:
>>> instance_tokens = [inst.token for inst in t4.instance[:3]]
>>> t4.render_instance(instance_tokens)
Rendering PointCloud
Note
In case of you want to ignore camera distortion, please specify ignore_distortion=True
.
Save Recording
You can save the rendering result as follows:
If you don't want to spawn the viewer, please specify show=False
as below:
Rendering with RerunViewer
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.
>>> from t4_devkit.viewer import RerunViewer
# You need to specify `cameras` if you want to 2D spaces
>>> viewer = RerunViewer(app_id, cameras=<CAMERA_NAMES:[str;N]>)
# Rendering 3D boxes
>>> viewer.render_box3ds(seconds, box3ds)
# Rendering 2D boxes
>>> viewer.render_box2ds(seconds, box2ds)
It allows us to render boxes by specifying elements of boxes directly.