refactor: add heler classes for Tier4

[ktro2828]

What

This PR introduces following helper classes for Tier4:

• TimeseriesHelper: This class performs aggregating annotation records in future or past.
• RenderingHelper: This class performs rendering dataset records.

In RenderingHelper, we adopts async technique which allows to render records asynchronously following coroutine.
I compared the processing times for each rendering method between before and after this PR:

# d20b53bf-8b4e-4040-9d2c-6df22120177a
# === Before ===
# Method        Process Time[s]
# ----------  -----------------
# scene                 1.93103
# instance              1.07914
# pointcloud           24.691
# === After ====
# Method        Process Time[s]
# ----------  -----------------
# scene                  2.0949
# instance               1.0695
# pointcloud            24.9125

# 043f584e-dee3-4f29-997f-8a15e87284dd
# === Before ===
# Method        Process Time[s]
# ----------  -----------------
# scene                 5.11885
# instance              4.60405
# pointcloud          159.108

# === After ===
# Method        Process Time[s]
# ----------  -----------------
# scene                 4.91369
# instance              4.51894
# pointcloud          146.685

Script to measure processing times

from __future__ import annotations

import argparse
import time

from tabulate import tabulate

from t4_devkit import Tier4


def main():
    parser = argparse.ArgumentParser()
    parser.add_argument("data_root", type=str)
    args = parser.parse_args()

    t4 = Tier4("annotation", args.data_root, verbose=False)

    profile = []

    scene_token = t4.scene[0].token
    scene_start = time.perf_counter()
    t4.render_scene(scene_token, future_seconds=10)
    scene_time = time.perf_counter() - scene_start
    profile.append({"Method": "scene", "Process Time[s]": scene_time})

    instance_token = t4.instance[0].token
    instance_start = time.perf_counter()
    t4.render_instance(instance_token)
    instance_time = time.perf_counter() - instance_start
    profile.append({"Method": "instance", "Process Time[s]": instance_time})

    pointcloud_start = time.perf_counter()
    t4.render_pointcloud(scene_token)
    pointcloud_time = time.perf_counter() - pointcloud_start
    profile.append({"Method": "pointcloud", "Process Time[s]": pointcloud_time})

    print(tabulate(profile, headers="keys"))


if __name__ == "__main__":
    main()

[github-actions]

☂️ Python Coverage

current status: ❌

Overall Coverage

Lines	Covered	Coverage	Threshold	Status
2254	1505	67%	50%	🟢

New Files

File	Coverage	Status
t4_devkit/helper/init.py	100%	🟢
t4_devkit/helper/rendering.py	13%	🔴
t4_devkit/helper/timeseries.py	23%	🔴
TOTAL	45%	🔴

Modified Files

File	Coverage	Status
t4_devkit/tier4.py	12%	🔴
TOTAL	12%	🔴

updated for commit: 7bed916 by action🐍