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perf: execute annotation rendering in parallel #182

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Merged
ktro2828 merged 4 commits into from
Aug 29, 2025
Merged

perf: execute annotation rendering in parallel #182

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perf: execute annotation rendering in parallel
ktro2828 Aug 29, 2025
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ktro2828 Aug 29, 2025
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ktro2828 Aug 29, 2025
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style(pre-commit): autofix
ktro2828 Aug 29, 2025
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66 changes: 37 additions & 29 deletions t4_devkit/helper/rendering.py
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Original file line number Diff line number Diff line change
Expand Up @@ -162,19 +162,23 @@ def render_scene(
first_camera_tokens=first_camera_tokens,
max_timestamp_us=max_timestamp_us,
)
)

# TODO(ktro2828): speed up annotation rendering
self._render_annotation3ds(
viewer=viewer,
first_sample_token=scene.first_sample_token,
max_timestamp_us=max_timestamp_us,
future_seconds=future_seconds,
)
self._render_annotation2ds(
viewer=viewer,
first_sample_token=scene.first_sample_token,
max_timestamp_us=max_time_seconds,
+ [
self._executor.submit(
self._render_annotation3ds(
viewer=viewer,
first_sample_token=scene.first_sample_token,
max_timestamp_us=max_timestamp_us,
future_seconds=future_seconds,
)
),
self._executor.submit(
self._render_annotation2ds(
viewer=viewer,
first_sample_token=scene.first_sample_token,
max_timestamp_us=max_timestamp_us,

Copilot AI Aug 29, 2025

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This line fixes a bug where max_time_seconds was incorrectly used instead of max_timestamp_us. However, the variable name suggests it should be in seconds, but it's being passed to a parameter expecting microseconds. Verify that the parameter naming and units are consistent throughout the codebase.

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)
),
]
)

def render_instance(
Expand Down Expand Up @@ -261,22 +265,26 @@ def render_instance(
viewer=viewer,
first_camera_tokens=first_camera_tokens,
max_timestamp_us=max_timestamp_us,
),
)

# TODO(ktro2828): speed up annotation rendering
self._render_annotation3ds(
viewer=viewer,
first_sample_token=first_sample.token,
max_timestamp_us=max_timestamp_us,
future_seconds=future_seconds,
instance_tokens=instance_tokens,
)
self._render_annotation2ds(
viewer=viewer,
first_sample_token=first_sample.token,
max_timestamp_us=max_timestamp_us,
instance_tokens=instance_tokens,
)
+ [
self._executor.submit(
self._render_annotation3ds(
viewer=viewer,
first_sample_token=first_sample.token,
max_timestamp_us=max_timestamp_us,
future_seconds=future_seconds,
instance_tokens=instance_tokens,
)
),
self._executor.submit(
self._render_annotation2ds(
viewer=viewer,
first_sample_token=first_sample.token,
max_timestamp_us=max_timestamp_us,
instance_tokens=instance_tokens,
)
),
],
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)

def render_pointcloud(
Expand Down
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