feat: add support of rendering segmentation pointcloud

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

Author: ktro2828

t4_devkit/viewer/viewer.py

@@ -9,6 +9,7 @@
 
 from t4_devkit.common.converter import to_quaternion
 from t4_devkit.common.timestamp import microseconds2seconds
+from t4_devkit.dataclass import SegmentationPointCloud
 from t4_devkit.lanelet import LaneletParser
 from t4_devkit.schema import SensorModality
 
@@ -426,11 +427,17 @@ def render_pointcloud(
         # TODO(ktro2828): add support of rendering pointcloud on images
         rr.set_time_seconds(self.config.timeline, seconds)
 
-        colors = pointcloud_color(pointcloud, color_mode=color_mode)
-        rr.log(
-            format_entity(self.config.ego_entity, channel),
-            rr.Points3D(pointcloud.points[:3].T, colors=colors),
-        )
+        if isinstance(pointcloud, SegmentationPointCloud):
+            rr.log(
+                format_entity(self.config.ego_entity, channel),
+                rr.Points3D(pointcloud.points[:3].T, class_ids=pointcloud.labels),
+            )
+        else:
+            colors = pointcloud_color(pointcloud, color_mode=color_mode)
+            rr.log(
+                format_entity(self.config.ego_entity, channel),
+                rr.Points3D(pointcloud.points[:3].T, colors=colors),
+            )
 
     @_check_spatial3d
     def render_lidarseg(