feat: use dataset ID as viewer application ID

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

Author: ktro2828

docs/tutorials/render.md

@@ -5,8 +5,7 @@ If you want to visualize annotation results, `Tier4` supports some rendering met
 ### Scene
 
 ```python
->>> scene_token = t4.scene[0].token
->>> t4.render_scene(scene_token)
+>>> t4.render_scene()
 ```
 
 ![Render Scene GIF](../assets/render_scene.gif)
@@ -30,8 +29,7 @@ You can also render multiple instances at once:
 ### PointCloud
 
 ```python
->>> scene_token = t4.scene[0].token
->>> t4.render_pointcloud(scene_token)
+>>> t4.render_pointcloud()
 ```
 
 ![Render PointCloud GIF](../assets/render_pointcloud.gif)
@@ -42,7 +40,7 @@ You can also render multiple instances at once:
 
     <!-- markdownlint-disable MD046 -->
     ```python
-    >>> t4.render_pointcloud(scene_token, ignore_distortion=True)
+    >>> t4.render_pointcloud(ignore_distortion=True)
     ```
 <!-- prettier-ignore-end -->
 

t4_devkit/cli/visualize.py

@@ -42,8 +42,7 @@ def scene(
     _create_dir(output)
 
     t4 = Tier4(data_root, verbose=False)
-    scene_token = t4.scene[0].token
-    t4.render_scene(scene_token, future_seconds=future, save_dir=output)
+    t4.render_scene(future_seconds=future, save_dir=output)
 
 
 @cli.command("instance", help="Visualize a particular instance in the corresponding scene.")
@@ -100,12 +99,7 @@ def pointcloud(
     _create_dir(output)
 
     t4 = Tier4(data_root, verbose=False)
-    scene_token = t4.scene[0].token
-    t4.render_pointcloud(
-        scene_token,
-        ignore_distortion=ignore_distortion,
-        save_dir=output,
-    )
+    t4.render_pointcloud(ignore_distortion=ignore_distortion, save_dir=output)
 
 
 def _create_dir(dir_path: str | None) -> None:

t4_devkit/helper/rendering.py

@@ -97,7 +97,6 @@ def _init_viewer(
 
     def render_scene(
         self,
-        scene_token: str,
         *,
         max_time_seconds: float = np.inf,
         future_seconds: float = 0.0,
@@ -106,7 +105,6 @@ def render_scene(
         """Render specified scene.
 
         Args:
-            scene_token (str): Unique identifier of scene.
             max_time_seconds (float, optional): Max time length to be rendered [s].
             future_seconds (float, optional): Future time in [s].
             save_dir (str | None, optional): Directory path to save the recording.
@@ -132,7 +130,7 @@ def render_scene(
         render3d = len(first_lidar_tokens) > 0 or len(first_radar_tokens) > 0
         render2d = len(first_camera_tokens) > 0
 
-        app_id = f"scene@{scene_token}"
+        app_id = f"scene@{self._t4.dataset_id}"
         viewer = self._init_viewer(
             app_id,
             render3d=render3d,
@@ -141,7 +139,7 @@ def render_scene(
             save_dir=save_dir,
         )
 
-        scene: Scene = self._t4.get("scene", scene_token)
+        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)
 
@@ -212,7 +210,6 @@ def render_instance(
             if last_sample is None or current_last_sample.timestamp > last_sample.timestamp:
                 last_sample = current_last_sample
 
-        scene_token = first_sample.scene_token
         max_timestamp_us = last_sample.timestamp
 
         # search first sample data tokens
@@ -235,7 +232,7 @@ def render_instance(
         render3d = len(first_lidar_tokens) > 0 or len(first_radar_tokens) > 0
         render2d = len(first_camera_tokens) > 0
 
-        app_id = f"instance@{scene_token}"
+        app_id = f"instance@{self._t4.dataset_id}"
         viewer = self._init_viewer(
             app_id,
             render3d=render3d,
@@ -279,7 +276,6 @@ def render_instance(
 
     def render_pointcloud(
         self,
-        scene_token: str,
         *,
         max_time_seconds: float = np.inf,
         ignore_distortion: bool = True,
@@ -288,7 +284,6 @@ def render_pointcloud(
         """Render pointcloud on 3D and 2D view.
 
         Args:
-            scene_token (str): Scene token.
             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.
@@ -298,7 +293,7 @@ def render_pointcloud(
             Add an option of rendering radar channels.
         """
         # initialize viewer
-        app_id = f"pointcloud@{scene_token}"
+        app_id = f"pointcloud@{self._t4.dataset_id}"
         viewer = self._init_viewer(app_id, render_ann=False, save_dir=save_dir)
 
         # search first lidar sample data token

t4_devkit/tier4.py

@@ -692,7 +692,6 @@ def box_velocity(self, sample_annotation_token: str, max_time_diff: float = 1.5)
 
     def render_scene(
         self,
-        scene_token: str,
         *,
         max_time_seconds: float = np.inf,
         future_seconds: float = 0.0,
@@ -701,13 +700,11 @@ def render_scene(
         """Render specified scene.
 
         Args:
-            scene_token (str): Unique identifier of scene.
             max_time_seconds (float, optional): Max time length to be rendered [s].
             future_seconds (float, optional): Future time in [s].
             save_dir (str | None, optional): Directory path to save the recording.
         """
         self._rendering_helper.render_scene(
-            scene_token=scene_token,
             max_time_seconds=max_time_seconds,
             future_seconds=future_seconds,
             save_dir=save_dir,
@@ -735,7 +732,6 @@ def render_instance(
 
     def render_pointcloud(
         self,
-        scene_token: str,
         *,
         max_time_seconds: float = np.inf,
         ignore_distortion: bool = True,
@@ -744,7 +740,6 @@ def render_pointcloud(
         """Render pointcloud on 3D and 2D view.
 
         Args:
-            scene_token (str): Scene token.
             max_time_seconds (float, optional): Max time length to be rendered [s].
             save_dir (str | None, optional): Directory path to save the recording.
             ignore_distortion (bool, optional): Whether to ignore distortion parameters.
@@ -753,7 +748,6 @@ def render_pointcloud(
             Add an option of rendering radar channels.
         """
         self._rendering_helper.render_pointcloud(
-            scene_token=scene_token,
             max_time_seconds=max_time_seconds,
             ignore_distortion=ignore_distortion,
             save_dir=save_dir,