refactor: replace sec2us and us2sec to seconds2microseconds and microseconds2seconds (#230)

* refactor: replace sec2us and us2sec to seconds2microseconds and microseconds2seconds

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

* chore: fix typo

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

---------

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

Author: ktro2828

t4_devkit/common/timestamp.py

@@ -2,27 +2,59 @@
 
 from typing import TYPE_CHECKING
 
+from typing_extensions import deprecated
+
 if TYPE_CHECKING:
     from t4_devkit.typing import ScalarLike
 
-__all__ = ("us2sec", "sec2us")
-
 
+@deprecated("Please use `microseconds2seconds(...)` instead.")
 def us2sec(timestamp: ScalarLike) -> float:
     """Convert timestamp from micro seconds [us] to seconds [s].
 
+    Deprecated:
+        This function is deprecated. Please use `microseconds2seconds(...)` instead.
+
     Args:
         timestamp (ScalarLike): Timestamp in [us].
 
     Returns:
         Timestamp in [s].
     """
-    return 1e-6 * timestamp
+    return microseconds2seconds(timestamp)
 
 
+@deprecated("Please use `seconds2microseconds(...)` instead.")
 def sec2us(timestamp: ScalarLike) -> float:
     """Convert timestamp from seconds [s] to micro seconds [us].
 
+    Deprecated:
+        This function is deprecated. Please use `seconds2microseconds(...)` instead.
+
+    Args:
+        timestamp (ScalarLike): Timestamp in [s].
+
+    Returns:
+        Timestamp in [us].
+    """
+    return seconds2microseconds(timestamp)
+
+
+def microseconds2seconds(timestamp: ScalarLike) -> float:
+    """Convert timestamp from micro seconds [us] to seconds [s].
+
+    Args:
+        timestamp (ScalarLike): Timestamp in [us].
+
+    Returns:
+        Timestamp in [s].
+    """
+    return 1e-6 * timestamp
+
+
+def seconds2microseconds(timestamp: ScalarLike) -> float:
+    """Convert timestamp from seconds [s] to micro seconds [us].
+
     Args:
         timestamp (ScalarLike): Timestamp in [s].
 

t4_devkit/helper/rendering.py

@@ -12,7 +12,7 @@
 from PIL import Image
 
 from t4_devkit.common.geometry import view_points
-from t4_devkit.common.timestamp import sec2us, us2sec
+from t4_devkit.common.timestamp import microseconds2seconds, seconds2microseconds
 from t4_devkit.dataclass import LidarPointCloud, RadarPointCloud
 from t4_devkit.schema import SensorModality
 from t4_devkit.viewer import (
@@ -126,7 +126,7 @@ def render_scene(
 
         scene: Scene = self._t4.scene[0]
         first_sample: Sample = self._t4.get("sample", scene.first_sample_token)
-        max_timestamp_us = first_sample.timestamp + sec2us(max_time_seconds)
+        max_timestamp_us = first_sample.timestamp + seconds2microseconds(max_time_seconds)
 
         concurrent.futures.wait(
             self._render_lidar_and_ego(
@@ -295,7 +295,9 @@ def render_pointcloud(
             raise ValueError("There is no 3D pointcloud data.")
 
         first_lidar_sample_data: Sample = self._t4.get("sample_data", first_lidar_token)
-        max_timestamp_us = first_lidar_sample_data.timestamp + sec2us(max_time_seconds)
+        max_timestamp_us = first_lidar_sample_data.timestamp + seconds2microseconds(
+            max_time_seconds
+        )
 
         concurrent.futures.wait(
             self._render_lidar_and_ego(
@@ -354,7 +356,7 @@ def _render_single_lidar(first_lidar_token: str) -> None:
                     osp.join(self._t4.data_root, sample_data.filename)
                 )
                 viewer.render_pointcloud(
-                    seconds=us2sec(sample_data.timestamp),
+                    seconds=microseconds2seconds(sample_data.timestamp),
                     channel=sample_data.channel,
                     pointcloud=pointcloud,
                     color_mode=color_mode,
@@ -384,7 +386,7 @@ def _render_single_radar(first_radar_token: str) -> None:
                     osp.join(self._t4.data_root, sample_data.filename)
                 )
                 viewer.render_pointcloud(
-                    seconds=us2sec(sample_data.timestamp),
+                    seconds=microseconds2seconds(sample_data.timestamp),
                     channel=sample_data.channel,
                     pointcloud=pointcloud,
                 )
@@ -410,7 +412,7 @@ def _render_single_camera(first_camera_token: str) -> None:
                     break
 
                 viewer.render_image(
-                    seconds=us2sec(sample_data.timestamp),
+                    seconds=microseconds2seconds(sample_data.timestamp),
                     camera=sample_data.channel,
                     image=osp.join(self._t4.data_root, sample_data.filename),
                 )
@@ -455,7 +457,7 @@ def _render_points_on_single_camera(camera: str) -> None:
                     color_mode=color_mode,
                 )
 
-                rr.set_time_seconds(ViewerConfig.timeline, us2sec(sample.timestamp))
+                rr.set_time_seconds(ViewerConfig.timeline, microseconds2seconds(sample.timestamp))
 
                 rr.log(format_entity(ViewerConfig.ego_entity, camera), rr.Image(image))
                 rr.log(
@@ -582,7 +584,7 @@ def _render_annotation3ds(
                     self._t4.get_box3d(token, future_seconds=future_seconds)
                     for token in sample.ann_3ds
                 ]
-            viewer.render_box3ds(us2sec(sample.timestamp), boxes)
+            viewer.render_box3ds(microseconds2seconds(sample.timestamp), boxes)
 
             current_sample_token = sample.next
 
@@ -636,7 +638,7 @@ def _render_annotation2ds(
                     )
 
             # Render 2D box
-            viewer.render_box2ds(us2sec(sample.timestamp), boxes)
+            viewer.render_box2ds(microseconds2seconds(sample.timestamp), boxes)
 
             if instance_tokens is None:
                 # Surface Annotation
@@ -655,7 +657,7 @@ def _render_annotation2ds(
             # Render 2D segmentation image
             for camera, data in camera_masks.items():
                 viewer.render_segmentation2d(
-                    seconds=us2sec(sample.timestamp), camera=camera, **data
+                    seconds=microseconds2seconds(sample.timestamp), camera=camera, **data
                 )
 
             # TODO: add support of rendering keypoints

t4_devkit/helper/timeseries.py

@@ -2,7 +2,7 @@
 
 from typing import TYPE_CHECKING
 
-from t4_devkit.common.timestamp import us2sec
+from t4_devkit.common.timestamp import microseconds2seconds
 
 if TYPE_CHECKING:
     from t4_devkit import Tier4
@@ -57,7 +57,9 @@ def get_sample_annotations_until(
         while current_sample_token != "":
             current_sample: Sample = self._t4.get("sample", current_sample_token)
 
-            if abs(us2sec(current_sample.timestamp - start_sample.timestamp)) > abs(seconds):
+            if abs(microseconds2seconds(current_sample.timestamp - start_sample.timestamp)) > abs(
+                seconds
+            ):
                 break
 
             ann_token = self._sample_and_instance_to_ann3d.get(
@@ -100,9 +102,9 @@ def get_object_anns_until(
         while current_sample_data_token != "":
             current_sample_data: SampleData = self._t4.get("sample_data", current_sample_data_token)
 
-            if abs(us2sec(current_sample_data.timestamp - start_sample_data.timestamp)) > abs(
-                seconds
-            ):
+            if abs(
+                microseconds2seconds(current_sample_data.timestamp - start_sample_data.timestamp)
+            ) > abs(seconds):
                 break
 
             ann_token = self._sample_data_and_instance_to_ann2d.get(

t4_devkit/viewer/viewer.py

@@ -8,7 +8,7 @@
 import rerun as rr
 
 from t4_devkit.common.converter import to_quaternion
-from t4_devkit.common.timestamp import us2sec
+from t4_devkit.common.timestamp import microseconds2seconds
 from t4_devkit.lanelet import LaneletParser
 from t4_devkit.schema import SensorModality
 
@@ -487,7 +487,7 @@ def render_ego(self, *args, **kwargs) -> None:
 
     def _render_ego_with_schema(self, ego_pose: EgoPose) -> None:
         self._render_ego_without_schema(
-            seconds=us2sec(ego_pose.timestamp),
+            seconds=microseconds2seconds(ego_pose.timestamp),
             translation=ego_pose.translation,
             rotation=ego_pose.rotation,
             geocoordinate=ego_pose.geocoordinate,

tests/common/test_timestamp.py

@@ -1,12 +1,14 @@
-from t4_devkit.common.timestamp import sec2us, us2sec
+from __future__ import annotations
+
+from t4_devkit.common.timestamp import microseconds2seconds, seconds2microseconds
 
 
 def test_timestamp() -> None:
     """Test timestamp conversion."""
     seconds = 1e-6
 
-    us = sec2us(seconds)
-    sec = us2sec(us)
+    us = seconds2microseconds(seconds)
+    sec = microseconds2seconds(us)
 
     assert us == 1
     assert sec == 1e-6