feat(viewer): add support of rendering pointcloud segmentation by ktro2828 · Pull Request #261 · tier4/t4-devkit

ktro2828 · 2026-01-30T00:34:49Z

What

This pull request adds support for rendering LiDAR segmentation point clouds, improves compatibility across different dataset revisions, and refines the handling of category indices. It also updates the documentation and user interface to reflect these new features and changes. The most important changes are grouped below:

LiDAR Segmentation Support:

Added a new SEGMENTATION color mode to PointCloudColorMode and support for rendering LiDAR segmentation point clouds in the viewer via the new render_lidarseg method in viewer.py. The rendering helper now automatically chooses segmentation rendering if segmentation data is available. [1] [2] [3] [4] [5] [6] [7] [8] [9] [10]

Category Index Compatibility:

Introduced fix_category_table in schema/compatibility.py to ensure category indices are correctly populated, handling cases where some or all indices are missing, and raising an error if the data is inconsistent. This function is now used during dataset initialization. [1] [2] [3]
Updated all usages of category indices to use the index field directly, instead of relying on list position, ensuring consistency across different dataset revisions. [1] [2]

Documentation and UI Updates:

Updated documentation in README.md, docs/index.md, and docs/tutorials/render.md to reflect new support for point cloud segmentation and to provide usage examples for rendering LiDAR segmentation. [1] [2] [3]

Other Improvements:

Improved map rendering by making it conditional on the existence of the map file, preventing errors if the file is missing.
Updated type hints and imports to support the new segmentation point cloud functionality.

github-actions · 2026-01-30T00:35:17Z

☂️ Python Coverage

current status: ❌

Overall Coverage

Lines	Covered	Coverage	Threshold	Status
4235	3473	82%	50%	🟢

New Files

No new covered files...

Modified Files

File	Coverage	Status
t4_devkit/helper/rendering.py	14%	🔴
t4_devkit/viewer/color.py	85%	🟢
t4_devkit/viewer/viewer.py	86%	🟢
TOTAL	62%	🔴

updated for commit: bdce10f by action🐍

mojomex

Looking good! Some small feedback:

ktro2828 · 2026-01-30T07:24:23Z

NOTE: Supporting segmentation visualization in render_pointcloud(...) makes the code complicated, so I skip this time. I would address in the future if needed.

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

* chore(deps): restrict rerun-sdk to versions >=0.20.0,<0.28.0 (#248) * Bump version from 0.5.2 to 0.5.3 (#247) * Bump version from 0.5.2 to 0.5.3 * Pin rerun-sdk dependency to version 0.20.0 * refactor: update custom validator definition (#250) * refactor: update custom validator definition Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * Update t4_devkit/schema/tables/base.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --------- Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * fix: modity type of size to tuple[int, int] (#251) Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> * fix: abstract away category indexing differences Semseg and non-semseg datasets behave differently (position-based vs. explicit indexing). Now computing index field in case position-based indexing is used. Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp> * fix(rendering): don't fail when map is not present Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp> * fix(rendering): fix iteration freezing when skipping a pointcloud without lidarseg file Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp> * feat(rendering): auto-enable SEGMENTATION coloring when lidarseg is available Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp> * docs: checkmark for semseg viz Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp> * fix(rendering): fix wrongly named `color_mode` args Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp> * refactor(compatibility): move to schema package Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp> --------- Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp> Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp> Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Co-authored-by: Samrat Thapa <38401989+SamratThapa120@users.noreply.github.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

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

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

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

mojomex

The ✅ in README.md and docs/index.md is missing for lidarseg.
Otherwise looking good!

It looks like your rebase/force-push destroyed some of my changes from #256, e.g.:

966e90b - fix infinite loop
85f78e2 - ✅ in README.md and docs/index.md for lidarseg

ktro2828 · 2026-01-30T09:46:54Z

966e90b - fix infinite loop

@mojomex Sorry for making you confused 🙏 It seems the commit you mentioned has been included! Please try checking again!
(I confirmed it works without any exceptions)

mojomex

Works perfectly!
I left a few nit-picky comments but the PR overall looks very good. Feel free to merge anytime.

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

Copilot

Pull request overview

This pull request adds support for rendering LiDAR segmentation point clouds in the viewer, improves compatibility with different dataset revisions by handling category indices correctly, and makes map rendering more robust by checking for file existence.

Changes:

Added SEGMENTATION color mode and rendering support for LiDAR segmentation point clouds with automatic mode selection based on data availability
Introduced fix_category_table to ensure consistent category index handling across dataset revisions
Updated documentation and UI to reflect the new segmentation rendering capability

Reviewed changes

Copilot reviewed 6 out of 7 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
t4_devkit/viewer/viewer.py	Added segmentation pointcloud rendering support with conditional logic for handling segmentation data
t4_devkit/viewer/color.py	Added `SEGMENTATION` enum value to `PointCloudColorMode`
t4_devkit/helper/rendering.py	Implemented automatic segmentation detection, updated rendering methods to support segmentation mode, and added error handling for futures
docs/tutorials/render.md	Added tutorial section for rendering LiDAR segmentation with code examples
docs/index.md	Updated feature table to mark PointCloud Segmentation as supported
README.md	Updated feature table to mark PointCloud Segmentation as supported

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ktro2828 self-assigned this Jan 30, 2026

github-actions Bot added documentation Improvements or additions to documentation new-feature New feature or request labels Jan 30, 2026

ktro2828 requested review from SamratThapa120 and mojomex January 30, 2026 00:41

ktro2828 marked this pull request as ready for review January 30, 2026 00:42

mojomex requested changes Jan 30, 2026

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Comment thread docs/tutorials/render.md Outdated

Comment thread t4_devkit/helper/rendering.py

ktro2828 and others added 8 commits January 30, 2026 16:27

feat: add support of rendering segmentation pointcloud

0362566

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

feat: separate lidarseg method

cf018b4

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

refactor: remove lidarseg command from t4viz

f7221ab

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

refactor: replace lidarseg existence checke

8fc13a6

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

feat: add support of rendering segmentation pointcloud

836e903

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

fix: resolve invalid usage of future submitting and enable to raise e…

4887a65

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

docs: add visualization sample

bdce10f

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

ktro2828 force-pushed the feat/viewer/lidarseg branch from 0f9c924 to bdce10f Compare January 30, 2026 07:27

mojomex reviewed Jan 30, 2026

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mojomex approved these changes Feb 2, 2026

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Comment thread t4_devkit/viewer/viewer.py Outdated

Comment thread t4_devkit/viewer/viewer.py Outdated

refactor: remove RerunViewer.render_pointcloud(...)

3cdb973

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

Copilot AI review requested due to automatic review settings February 2, 2026 22:25

Copilot AI reviewed Feb 2, 2026

View reviewed changes

Comment thread t4_devkit/viewer/color.py

Comment thread t4_devkit/helper/rendering.py

Comment thread t4_devkit/helper/rendering.py

ktro2828 merged commit a62b4b3 into main Feb 2, 2026
0 of 5 checks passed

ktro2828 deleted the feat/viewer/lidarseg branch February 2, 2026 22:26

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feat(viewer): add support of rendering pointcloud segmentation#261

feat(viewer): add support of rendering pointcloud segmentation#261
ktro2828 merged 9 commits into
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feat/viewer/lidarseg

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