refactor(viewer): refactoring internal logics (#264)

* refactor: update lidarseg seraching logic

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

* refactor: update rendering log logic

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

* refactor: replace assert into TypeError

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

* refactor: use direct truthiness

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

---------

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

Author: ktro2828

t4_devkit/helper/rendering.py

@@ -59,16 +59,17 @@ def __init__(self, t4: Tier4) -> None:
         self._label2id: dict[str, int] = {
             category.name: category.index for category in self._t4.category
         }
-        self._sample_data_to_lidarseg_filename: dict[str, str] | None = (
-            {lidarseg.sample_data_token: lidarseg.filename for lidarseg in self._t4.lidarseg}
-            if self._t4.lidarseg
-            else None
-        )
+        self._sample_data_to_lidarseg_filename: dict[str, str] = {
+            lidarseg.sample_data_token: lidarseg.filename for lidarseg in self._t4.lidarseg
+        }
 
         self._executor = concurrent.futures.ThreadPoolExecutor()
 
     def _has_lidarseg(self) -> bool:
-        return self._sample_data_to_lidarseg_filename is not None
+        return bool(self._sample_data_to_lidarseg_filename)
+
+    def _find_lidarseg_file(self, sample_data_token: str) -> str | None:
+        return self._sample_data_to_lidarseg_filename.get(sample_data_token)
 
     def _init_viewer(
         self,
@@ -432,13 +433,10 @@ def _render_single_lidar(first_lidar_token: str) -> None:
 
                 # render segmentation pointcloud if available, otherwise render raw pointcloud
                 if color_mode == PointCloudColorMode.SEGMENTATION:
-                    if not (
-                        self._has_lidarseg()
-                        and sample_data.token in self._sample_data_to_lidarseg_filename
-                    ):
+                    label_filename = self._find_lidarseg_file(sample_data.token)
+                    if label_filename is None:
                         continue
 
-                    label_filename = self._sample_data_to_lidarseg_filename[sample_data.token]
                     pointcloud = SegmentationPointCloud.from_file(
                         point_filepath=osp.join(self._t4.data_root, sample_data.filename),
                         label_filepath=osp.join(self._t4.data_root, label_filename),

t4_devkit/viewer/viewer.py

@@ -427,18 +427,19 @@ def render_pointcloud(
         # TODO(ktro2828): add support of rendering pointcloud on images
         rr.set_time_seconds(self.config.timeline, seconds)
 
+        entity_path = format_entity(self.config.ego_entity, channel)
         if color_mode == PointCloudColorMode.SEGMENTATION:
-            assert isinstance(pointcloud, SegmentationPointCloud)
-            rr.log(
-                format_entity(self.config.ego_entity, channel),
-                rr.Points3D(pointcloud.points[:3].T, class_ids=pointcloud.labels),
-            )
+            if not isinstance(pointcloud, SegmentationPointCloud):
+                raise TypeError(
+                    f"Expected SegmentationPointCloud instance, but got {type(pointcloud)}"
+                )
+
+            entity = 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),
-            )
+            entity = rr.Points3D(pointcloud.points[:3].T, colors=colors)
+
+        rr.log(entity_path, entity)
 
     @_check_spatial2d
     def render_image(self, seconds: float, camera: str, image: str | NDArrayU8) -> None:
@@ -451,10 +452,10 @@ def render_image(self, seconds: float, camera: str, image: str | NDArrayU8) -> N
         """
         rr.set_time_seconds(self.config.timeline, seconds)
 
-        if isinstance(image, str):
-            rr.log(format_entity(self.config.ego_entity, camera), rr.ImageEncoded(path=image))
-        else:
-            rr.log(format_entity(self.config.ego_entity, camera), rr.Image(image))
+        entity_path = format_entity(self.config.ego_entity, camera)
+        entity = rr.ImageEncoded(path=image) if isinstance(image, str) else rr.Image(image)
+
+        rr.log(entity_path, entity)
 
     @overload
     def render_ego(self, ego_pose: EgoPose) -> None:
@@ -519,18 +520,12 @@ def _render_ego_without_schema(
             ),
         )
 
+        entity_path = self.config.geocoordinate_entity
         if geocoordinate is not None:
-            latitude, longitude, _ = geocoordinate
-            rr.log(
-                self.config.geocoordinate_entity,
-                rr.GeoPoints(lat_lon=(latitude, longitude)),
-            )
+            rr.log(entity_path, rr.GeoPoints(lat_lon=geocoordinate[:2]))
         elif self.latlon is not None:
             latitude, longitude = calculate_geodetic_point(translation, self.latlon)
-            rr.log(
-                self.config.geocoordinate_entity,
-                rr.GeoPoints(lat_lon=(latitude, longitude)),
-            )
+            rr.log(entity_path, rr.GeoPoints(lat_lon=(latitude, longitude)))
 
     @overload
     def render_calibration(