refactor: remove lidarseg command from t4viz

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

Author: ktro2828

docs/cli/t4viz.md

@@ -64,16 +64,6 @@ For options, run `t4viz pointcloud -h`.
 t4viz pointcloud <DATA_ROOT> [OPTIONS]
 ```
 
-### LiDAR Segmentation
-
-This command performs the same behavior with [`Tier4.render_lidarseg(...)`](../tutorials/render.md#rendering-lidar-segmentation).
-
-For options, run `t4viz lidarseg -h`.
-
-```shell
-t4viz lidarseg <DATA_ROOT> [OPTIONS]
-```
-
 ### Future Trajectories
 
 `scene` and `instance` commands support visualizing future trajectories for each object.

docs/tutorials/render.md

@@ -48,22 +48,6 @@ If you want to visualize annotation results, `Tier4` supports some rendering met
     ```
 <!-- prettier-ignore-end -->
 
-### LiDAR Segmentation
-
-```python
->>> t4.render_lidarseg()
-```
-
-<!--![Render LiDAR Segmentation GIF](../assets/render_lidarseg.gif)-->
-
-<!-- prettier-ignore-start -->
-!!! NOTE
-    `render_lidarseg()` method requires `lidarseg` data as follows:
-
-    ```shell
-    ```
-<!-- prettier-ignore-end -->
-
 ### Save Recording
 
 You can save the rendering result as follows:

t4_devkit/cli/visualize.py

@@ -120,43 +120,6 @@ def pointcloud(
     t4.render_pointcloud(ignore_distortion=ignore_distortion, save_dir=output)
 
 
-@cli.command("lidarseg", help="Visualize LiDAR segmentation pointcloud.")
-def lidarseg(
-    data_root: Annotated[str, typer.Argument(help="Root directory path to the dataset.")],
-    revision: Annotated[
-        str | None,
-        typer.Option(
-            ...,
-            "-rv",
-            "--revision",
-            help="Specify if you want to load the specific version.",
-        ),
-    ] = None,
-    ignore_distortion: Annotated[
-        bool,
-        typer.Option(
-            ...,
-            "-ig",
-            "--ignore-distortion",
-            help="Indicates whether to ignore camera distortion",
-        ),
-    ] = True,
-    output: Annotated[
-        str | None,
-        typer.Option(
-            ...,
-            "-o",
-            "--output",
-            help="Output directory to save recorded .rrd file.",
-        ),
-    ] = None,
-) -> None:
-    _create_dir(output)
-
-    t4 = Tier4(data_root, revision=revision, verbose=False)
-    t4.render_lidarseg(ignore_distortion=ignore_distortion, save_dir=output)
-
-
 def _create_dir(dir_path: str | None) -> None:
     """Create a directory with the specified path.
 

t4_devkit/helper/rendering.py

@@ -343,53 +343,6 @@ def render_pointcloud(
             ),
         )
 
-    def render_lidarseg(
-        self,
-        *,
-        max_time_seconds: float = np.inf,
-        ignore_distortion: bool = True,
-        save_dir: str | None = None,
-    ) -> None:
-        """Render lidar segmentation.
-
-        Args:
-            max_time_seconds (float, optional): Max time length to be rendered [s].
-            ignore_distortion (bool, optional): Whether to ignore distortion parameters.
-            save_dir (str | None, optional): Directory path to save the recording.
-                Viewer will be spawned if it is None, otherwise not.
-        """
-        if self._sample_data_to_lidarseg_filename is None:
-            return
-
-        app_id = f"lidarseg@{self._t4.dataset_id}"
-        viewer = self._init_viewer(app_id, render_ann=True, save_dir=save_dir)
-
-        self._try_render_map(viewer)
-
-        # search first lidar sample data token
-        first_lidar_token: str | None = None
-        for sensor in self._t4.sensor:
-            if sensor.modality != SensorModality.LIDAR:
-                continue
-            first_lidar_token = sensor.first_sd_token
-
-        if first_lidar_token is None:
-            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 + seconds2microseconds(
-            max_time_seconds
-        )
-
-        concurrent.futures.wait(
-            self._render_lidar_and_ego(
-                viewer=viewer,
-                first_lidar_tokens=[first_lidar_token],
-                max_timestamp_us=max_timestamp_us,
-                color_mode=PointCloudColorMode.SEGMENTATION,
-            )
-        )
-
     def _try_render_map(self, viewer: RerunViewer) -> None:
         lanelet_path = osp.join(self._t4.map_dir, "lanelet2_map.osm")
         if not osp.exists(lanelet_path):

t4_devkit/tier4.py

@@ -802,23 +802,3 @@ def render_pointcloud(
             ignore_distortion=ignore_distortion,
             save_dir=save_dir,
         )
-
-    def render_lidarseg(
-        self,
-        *,
-        max_time_seconds: float = np.inf,
-        ignore_distortion: bool = True,
-        save_dir: str | None = None,
-    ) -> None:
-        """Render lidarseg on 3D view.
-
-        Args:
-            max_time_seconds (float, optional): Max time length to be rendered [s].
-            ignore_distortion (bool, optional): Whether to ignore distortion parameters.
-            save_dir (str | None, optional): Directory path to save the recording.
-        """
-        self._rendering_helper.render_lidarseg(
-            max_time_seconds=max_time_seconds,
-            ignore_distortion=ignore_distortion,
-            save_dir=save_dir,
-        )