feat: load 3D box visibility from dataset (#152)

* feat: add attribute for 3D box visibility

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

* feat: update to load num_points and visibility in get_box3d

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

* feat: set default value of visibility to VisibilityLevel.UNAVAILABLE

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

---------

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

Author: ktro2828

t4_devkit/dataclass/box.py

@@ -3,13 +3,13 @@
 from typing import TYPE_CHECKING, TypeVar
 
 import numpy as np
-from attrs import define, field, validators
-from attrs.converters import optional
+from attrs import converters, define, field, validators
 from shapely.geometry import Polygon
 from typing_extensions import Self
 
 from t4_devkit.common.converter import to_quaternion
 from t4_devkit.common.validator import is_vector3
+from t4_devkit.schema import VisibilityLevel
 
 from .label import SemanticLabel
 from .roi import Roi
@@ -89,6 +89,7 @@ class Box3D(BaseBox):
         shape (Shape): `Shape` object.
         velocity (Vector3Like | None, optional): Box velocity (vx, vy, vz).
         num_points (int | None, optional): The number of points inside the box.
+        visibility (VisibilityLevel, optional): Box visibility.
         future (Future | None, optional): Box trajectory in the future of each mode.
 
     Examples:
@@ -116,13 +117,18 @@ class Box3D(BaseBox):
     shape: Shape = field(validator=validators.instance_of(Shape))
     velocity: Vector3Like | None = field(
         default=None,
-        converter=optional(np.array),
+        converter=converters.optional(np.array),
         validator=validators.optional(is_vector3),
     )
     num_points: int | None = field(
         default=None,
         validator=validators.optional((validators.instance_of(int), validators.ge(0))),
     )
+    visibility: VisibilityLevel = field(
+        default=VisibilityLevel.UNAVAILABLE,
+        converter=converters.optional(VisibilityLevel),
+        validator=validators.optional(validators.instance_of(VisibilityLevel)),
+    )
 
     # additional attributes: set by `with_**`
     future: Future | None = field(

t4_devkit/tier4.py

@@ -9,13 +9,7 @@
 from pyquaternion import Quaternion
 
 from t4_devkit.common.geometry import is_box_in_image
-from t4_devkit.dataclass import (
-    Box2D,
-    Box3D,
-    SemanticLabel,
-    Shape,
-    ShapeType,
-)
+from t4_devkit.dataclass import Box2D, Box3D, SemanticLabel, Shape, ShapeType
 from t4_devkit.helper import RenderingHelper, TimeseriesHelper
 from t4_devkit.schema import SchemaName, SensorModality, VisibilityLevel, build_schema
 
@@ -416,6 +410,7 @@ def get_box3d(self, sample_annotation_token: str, *, future_seconds: float = 0.0
         ann: SampleAnnotation = self.get("sample_annotation", sample_annotation_token)
         instance: Instance = self.get("instance", ann.instance_token)
         sample: Sample = self.get("sample", ann.sample_token)
+        visibility: Visibility = self.get("visibility", ann.visibility_token)
 
         # semantic label
         semantic_label = self.get_semantic_label(
@@ -438,6 +433,8 @@ def get_box3d(self, sample_annotation_token: str, *, future_seconds: float = 0.0
             velocity=velocity,
             confidence=1.0,
             uuid=instance.token,  # TODO(ktro2828): extract uuid from `instance_name`.
+            num_points=ann.num_lidar_pts,
+            visibility=visibility.level,
         )
 
         if future_seconds > 0.0:
@@ -549,6 +546,7 @@ def get_box3ds(self, sample_data_token: str, *, future_seconds: float = 0.0) ->
                         instance.category_token, curr_ann.attribute_tokens
                     )
                     velocity = self.box_velocity(curr_ann.token)
+                    visibility: Visibility = self.get("visibility", curr_ann.visibility_token)
 
                     box = Box3D(
                         unix_time=t,
@@ -560,6 +558,8 @@ def get_box3ds(self, sample_data_token: str, *, future_seconds: float = 0.0) ->
                         velocity=velocity,
                         confidence=1.0,
                         uuid=instance.token,  # TODO(ktro2828): extract uuid from `instance_name`.
+                        num_points=curr_ann.num_lidar_pts,
+                        visibility=visibility.level,
                     )
                 else:
                     # If not, simply grab the current annotation.

tests/conftest.py

@@ -16,6 +16,7 @@
     ShapeType,
     TransformBuffer,
 )
+from t4_devkit.schema import VisibilityLevel
 
 if TYPE_CHECKING:
     from t4_devkit.typing import NDArrayFloat
@@ -58,6 +59,8 @@ def dummy_box3d() -> Box3D:
         velocity=(1.0, 1.0, 1.0),
         confidence=1.0,
         uuid="car3d_0",
+        num_points=1,
+        visibility=VisibilityLevel.FULL,
     ).with_future(
         timestamps=[101, 102, 103, 104],
         confidences=[1.0, 0.5],
@@ -100,6 +103,8 @@ def dummy_box3ds() -> list[Box3D]:
             velocity=(1.0, 1.0, 1.0),
             confidence=1.0,
             uuid="car3d_1",
+            num_points=1,
+            visibility=VisibilityLevel.FULL,
         ).with_future(
             timestamps=[101, 102, 103, 104],
             confidences=[1.0],
@@ -124,6 +129,8 @@ def dummy_box3ds() -> list[Box3D]:
             velocity=(1.0, 1.0, 1.0),
             confidence=1.0,
             uuid="bicycle3d_1",
+            num_points=1,
+            visibility=VisibilityLevel.FULL,
         ).with_future(
             timestamps=[101, 102, 103, 104],
             confidences=[1.0, 0.5],
@@ -156,6 +163,8 @@ def dummy_box3ds() -> list[Box3D]:
             velocity=(1.0, 1.0, 1.0),
             confidence=1.0,
             uuid="pedestrian3d_1",
+            num_points=1,
+            visibility="full",
         ).with_future(
             timestamps=[101, 102, 103, 104],
             confidences=[1.0, 0.5, 0.2],