feat(viewer): add support of projecting 3D components on 2D view space

[ktro2828]

What

This pull request refactors the pointcloud rendering logic in the Tier4 visualization pipeline, primarily by removing the ignore_distortion option and simplifying how pointclouds are rendered on images. It introduces a more flexible content selection mechanism for viewers, improves code clarity, and fixes a bug in 2D annotation filtering. The changes affect the CLI, helper, and viewer modules, and update related documentation.

Rendering pipeline refactor

• Removed the ignore_distortion parameter from render_pointcloud methods and related CLI options, streamlining the rendering API and eliminating unused pointcloud projection logic. (t4_devkit/cli/visualize.py, t4_devkit/tier4.py, t4_devkit/helper/rendering.py) [1] [2] [3] [4] [5]
• Introduced RenderingMode and _load_contents in RenderingHelper to dynamically select viewer contents based on rendering mode, improving flexibility and maintainability. (t4_devkit/helper/rendering.py) [1] [2]

Viewer configuration improvements

• Updated ViewerBuilder.with_spatial2d to accept a contents argument, allowing more precise control over which entities are displayed in 2D views. (t4_devkit/viewer/builder.py)
• Standardized viewer calibration and ego rendering transforms to use from_parent=False for consistency with the rerun API. (t4_devkit/viewer/viewer.py) [1] [2]

Bug fix

• Corrected logic in _render_annotation2ds to properly filter 2D annotation boxes by instance tokens, fixing a bug where unrelated boxes could be included. (t4_devkit/helper/rendering.py)

Documentation update

• Removed outdated documentation about the ignore_distortion option from the rendering tutorial. (docs/tutorials/render.md)

Minor code cleanup

• Removed unused imports and refactored code for clarity in rendering helper modules. (t4_devkit/helper/rendering.py) [1] [2]

These changes collectively simplify the rendering workflow, improve viewer configurability, and address a filtering bug in annotation rendering.

[github-actions]

☂️ Python Coverage

current status: ❌

Overall Coverage

Lines	Covered	Coverage	Threshold	Status
2729	2130	78%	50%	🟢

New Files

No new covered files...

Modified Files

File	Coverage	Status
t4_devkit/helper/rendering.py	18%	🔴
t4_devkit/tier4.py	81%	🟢
t4_devkit/viewer/builder.py	86%	🟢
t4_devkit/viewer/viewer.py	87%	🟢
TOTAL	68%	🔴

updated for commit: a04b999 by action🐍