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t4viz performs visualizing particular dataset attributes from command line.

$ t4viz -h

 Usage: t4viz [OPTIONS] COMMAND [ARGS]...

╭─ Options ────────────────────────────────────────────────────────────────────────────────────────────────────────╮
│ --version             -v        Show the application version and exit.                                           │
│ --install-completion            Install completion for the current shell.                                        │
│ --show-completion               Show completion for the current shell, to copy it or customize the installation. │
│ --help                -h        Show this message and exit.                                                      │
╰──────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯
╭─ Commands ───────────────────────────────────────────────────────────────────────────────────────────────────────╮
│ scene        Visualize a specific scene.                                                                         │
│ instance     Visualize a particular instance in the corresponding scene.                                         │
│ pointcloud   Visualize pointcloud in the corresponding scene.                                                    │
╰──────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯

Shell Completion

Run the following command to install completion, and reload shell.

t4viz --install-completion

Usages

Scene

This command performs the same behavior with Tier4.render_scene(...).

For options, run t4viz scene -h.

t4viz scene <DATA_ROOT> [OPTIONS]

Specific Instance(s)

This command performs the same behavior with Tier4.render_instance(...).

For options, run t4viz instance -h.

t4viz instance <DATA_ROOT> <INSTANCE_TOKEN> [OPTIONS]

You can also specify multiple instance tokens:

t4viz instance <DATA_ROOT> <INSTANCE_TOKEN1> <INSTANCE_TOKEN2> ... [OPTIONS]

PointCloud

This command performs the same behavior with Tier4.render_pointcloud(...).

For options, run t4viz pointcloud -h.

t4viz pointcloud <DATA_ROOT> [OPTIONS]

Future Trajectories

scene and instance commands support visualizing future trajectories for each object.

By specifying -f [--future] option, you can render them in the particular time length:

t4viz <COMMAND> ... -f <FUTURE_LENGTH[s]>

Save Recording as .rrd

You can save visualized recording with -o [--output] option as follows:

t4viz <COMMAND> ... -o <OUTPUT_DIR>

Note that if you specify --output option, viewer will not be spawned.