feat: add CLI tool for visualization

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

pyproject.toml

@@ -1,34 +1,28 @@
-[build-system]
-requires = ["hatchling"]
-build-backend = "hatchling.build"
-
 [project]
 name = "t4-devkit"
 version = "0.0.8"
 description = "A toolkit to load and operate T4 dataset."
 authors = [{ name = "Kotaro Uetake", email = "[email protected]" }]
 readme = "README.md"
 requires-python = ">=3.10,<3.13"
-dependencies = [
-    "rerun-sdk==0.20.0",
-    "pyquaternion>=0.9.9",
-    "matplotlib>=3.9.2",
-    "shapely<2.0.0",
-    "pycocotools>=2.0.8",
-]
+dependencies = []
+
+[tool.uv.sources]
+t4-dekvit = { workspace = true }
+t4-devkit-cli = { workspace = true }
+
+[tool.uv.workspace]
+members = ["t4-dekvit", "t4-devkit-cli"]
 
-[dependency-groups]
-dev = [
-    "pytest>=8.2.2",
-    "pytest-asyncio>=0.23.7",
-    "pytest-mock>=3.14.0",
-    "pytest-cov>=6.0.0",
-    "lark>=1.1.9",
-    "mkdocs>=1.6.0",
-    "mkdocs-material>=9.5.47",
-    "mkdocstrings[python]>=0.18",
-    "ruff>=0.8",
-]
+[tool.hatch.build.targets.wheel]
+packages = ["t4-devkit", "t4-devkit-cli"]
+
+[project.scripts]
+t4viz = "t4_devkit_cli.visualize:main"
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
 
 [tool.ruff]
 line-length = 100

t4_devkit/pyproject.toml

@@ -0,0 +1,37 @@
+[project]
+name = "t4-devkit"
+version = "0.0.8"
+description = "A toolkit to load and operate T4 dataset."
+authors = [{ name = "Kotaro Uetake", email = "[email protected]" }]
+readme = "README.md"
+requires-python = ">=3.10,<3.13"
+dependencies = [
+    "rerun-sdk==0.20.0",
+    "pyquaternion>=0.9.9",
+    "matplotlib>=3.9.2",
+    "shapely<2.0.0",
+    "pycocotools>=2.0.8",
+]
+
+[dependency-groups]
+dev = [
+    "pytest>=8.2.2",
+    "pytest-asyncio>=0.23.7",
+    "pytest-mock>=3.14.0",
+    "pytest-cov>=6.0.0",
+    "lark>=1.1.9",
+    "mkdocs>=1.6.0",
+    "mkdocs-material>=9.5.47",
+    "mkdocstrings[python]>=0.18",
+    "ruff>=0.8",
+]
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[tool.ruff]
+line-length = 100
+
+[tool.ruff.lint.isort]
+required-imports = ["from __future__ import annotations"]

t4_devkit_cli/README.md

@@ -0,0 +1,47 @@
+# Command Line Tools for T4 Dataset
+
+Following command line tools are supported:
+
+- `t4viz`: Visualize T4 dataset features.
+
+## `t4viz`
+
+### Visualize a Scene
+
+```shell
+# [...] is optional arguments
+t4viz scene <DATA_ROOT> [-o <OUTPUT_DIR> --no-show]
+```
+
+Arguments
+
+- `<DATA_ROOT>`: Root directory path to T4 dataset.
+- `-o <OUTPUT_DIR>`: Directory path to save recording `.rrd` file.
+- `--no-show`: Indicates whether not to show viewer.
+
+### Visualize a Specific Instance
+
+```shell
+# [...] is optional arguments
+t4viz instance <DATA_ROOT> <INSTANCE_TOKEN> [-o <OUTPUT_DIR> --no-show]
+```
+
+Arguments
+
+- `<DATA_ROOT>`: Root directory path to T4 dataset.
+- `<INSTANCE_TOKEN>`: Unique identifier token of an instance record.
+- `-o <OUTPUT_DIR>`: Directory path to save recording `.rrd` file.
+- `--no-show`: Indicates whether not to show viewer.
+
+### Visualize PointCloud
+
+```shell
+# [...] is optional arguments
+t4viz pointcloud <DATA_ROOT> [--distortion -o <OUTPUT_DIR> --no-show]
+```
+
+- `<DATA_ROOT>`: Root directory path to T4 dataset.
+- `<INSTANCE_TOKEN>`: Unique identifier token of an instance record.
+- `--distortion`: Indicates whether not to ignore camera distortion.
+- `-o <OUTPUT_DIR>`: Directory path to save recording `.rrd` file.
+- `--no-show`: Indicates whether not to show viewer.

t4_devkit_cli/__init__.py

@@ -0,0 +1,6 @@
+def main():
+    print("Hello from t4cli!")
+
+
+if __name__ == "__main__":
+    main()

t4_devkit_cli/common.py

@@ -0,0 +1,14 @@
+from __future__ import annotations
+
+import os
+
+
+def create_dir(dir_path: str | None) -> None:
+    """Create a directory with the specified path.
+    If the input path is `None` this function does nothing.
+
+    Args:
+        dir_path (str | None): Directory path to create.
+    """
+    if dir_path is not None:
+        os.makedirs(dir_path, exist_ok=True)

t4_devkit_cli/pyproject.toml

@@ -0,0 +1,17 @@
+[project]
+name = "t4_devkit_cli"
+version = "0.1.0"
+description = "Command line tools for T4 dataset using t4-devkit."
+readme = "README.md"
+requires-python = ">=3.10, <3.13"
+dependencies = ["click>=8.1.8", "t4-devkit"]
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[tool.ruff]
+line-length = 100
+
+[tool.ruff.lint.isort]
+required-imports = ["from __future__ import annotations"]

t4_devkit_cli/visualize.py

@@ -0,0 +1,77 @@
+from __future__ import annotations
+
+import click
+
+from t4_devkit import Tier4
+
+from .common import create_dir
+
+
+@click.group(invoke_without_command=True)
+@click.pass_context
+def main(ctx: click.Context) -> None:
+    if ctx.invoked_subcommand is None:
+        print(ctx.get_help())
+    else:
+        ctx.invoked_subcommand
+
+
+@main.command(name="scene", help="Visualize a specific scene.")
+@click.argument("data_root", type=click.Path(exists=True))
+@click.option(
+    "-o",
+    "--output",
+    type=click.Path(writable=True),
+    help="Output directory to save recoding .rrd file.",
+)
+@click.option("--no-show", is_flag=True, help="Indicates whether not to show viewer.")
+def scene(data_root: str, output: str | None, no_show: bool) -> None:
+    create_dir(output)
+
+    t4 = Tier4("annotation", data_root, verbose=False)
+    scene_token = t4.scene[0].token
+    t4.render_scene(scene_token, save_dir=output, show=not no_show)
+
+
+@main.command(name="instance", help="Visualize a particular instance in a corresponding scene")
+@click.argument("data_root", type=click.Path(exists=True))
+@click.argument("instance", type=click.STRING)
+@click.option(
+    "-o",
+    "--output",
+    type=click.Path(writable=True),
+    help="Output directory to save recoding .rrd file.",
+)
+@click.option("--no-show", is_flag=True, help="Indicates whether not to show viewer.")
+def instance(data_root: str, instance: str, output: str | None, no_show: bool) -> None:
+    create_dir(output)
+
+    t4 = Tier4("annotation", data_root, verbose=False)
+    t4.render_instance(instance_token=instance, save_dir=output, show=not no_show)
+
+
+@main.command(name="pointcloud", help="Visualize pointcloud in a corresponding scene.")
+@click.argument("data_root", type=click.Path(exists=True))
+@click.option(
+    "--distortion",
+    is_flag=True,
+    help="Indicates whether not to ignore camera distortion.",
+)
+@click.option(
+    "-o",
+    "--output",
+    type=click.Path(writable=True),
+    help="Output directory to save recoding .rrd file.",
+)
+@click.option("--no-show", is_flag=True, help="Indicates whether not to show viewer.")
+def pointcloud(data_root: str, distortion: bool, output: str | None, no_show: bool) -> None:
+    create_dir(output)
+
+    t4 = Tier4("annotation", data_root, verbose=False)
+    scene_token = t4.scene[0].token
+    t4.render_pointcloud(
+        scene_token,
+        ignore_distortion=not distortion,
+        save_dir=output,
+        show=not no_show,
+    )