NEW LIDAR Visualizer

.gitignore

@@ -1,3 +1,6 @@
+.polyscope.ini
+imgui.ini
+
 # Created by https://www.toptal.com/developers/gitignore/api/python
 # Edit at https://www.toptal.com/developers/gitignore?templates=python
 

pyproject.toml

@@ -33,6 +33,7 @@ dependencies = [
   "natsort",
   "numpy",
   "tqdm",
+  "polyscope>=2.2.1",
   "typer[all]>=0.6.0",
 ]
 

src/lidar_visualizer/datasets/generic.py

@@ -82,7 +82,7 @@ def _get_point_cloud_reader(self):
             - trimesh.load
             - PyntCloud
         """
-        # This is easy, the old KITTI format
+        # 1. The old KITTI format
         if self.file_extension == "bin":
             print("[WARNING] Reading .bin files, the only format supported is the KITTI format")
 
@@ -92,57 +92,60 @@ def read_kitti_scan(file):
                 )
                 points = points_xyzi[:, 0:3]
                 intensity = points_xyzi[:, -1]
-                scan = self.o3d.geometry.PointCloud()
                 intensity = intensity / intensity.max()
                 colors = self.cmap(intensity)[:, :3].reshape(-1, 3)
-                scan.points = self.o3d.utility.Vector3dVector(points)
-                scan.colors = self.o3d.utility.Vector3dVector(colors)
-                return scan
+                return points, colors
 
             return read_kitti_scan
 
         first_scan_file = self.scan_files[0]
         tried_libraries = []
         missing_libraries = []
-        # First with open3d
+
+        # 2. Try with Open3D
         try:
             self.o3d.t.io.read_point_cloud(first_scan_file)
 
             def read_scan_with_intensities(file):
                 scan = self.o3d.t.io.read_point_cloud(file)
 
                 if "colors" in dir(scan.point):
-                    return scan.to_legacy()
+                    scan = scan.to_legacy()
+                    return np.asarray(scan.points), np.asarray(scan.colors)
 
                 if "intensity" in dir(scan.point):
                     intensity = scan.point.intensity.numpy()
                     intensity = intensity / intensity.max()
-                    scan.point.colors = self.cmap(intensity)[:, :, :3].reshape(-1, 3)
+                    colors = self.cmap(intensity)[:, :, :3].reshape(-1, 3)
+                    return np.asarray(scan.points), colors
 
                 # else
-                return scan.to_legacy()
+                scan = scan.to_legacy()
+                return np.asarray(scan.points), None
 
             return read_scan_with_intensities
         except ModuleNotFoundError:
             missing_libraries.append("open3d")
         except:
             tried_libraries.append("open3d")
 
+        # 3. Try with trimesh
         try:
             import trimesh
 
             trimesh.load(first_scan_file)
-            return lambda file: np.asarray(trimesh.load(file).vertices)
+            return lambda file: np.asarray(trimesh.load(file).vertices), None
         except ModuleNotFoundError:
             missing_libraries.append("trimesh")
         except:
             tried_libraries.append("trimesh")
 
+        # 4. Try with PyntCloud
         try:
             from pyntcloud import PyntCloud
 
             PyntCloud.from_file(first_scan_file)
-            return lambda file: PyntCloud.from_file(file).points[["x", "y", "z"]].to_numpy()
+            return lambda file: PyntCloud.from_file(file).points[["x", "y", "z"]].to_numpy(), None
         except ModuleNotFoundError:
             missing_libraries.append("pyntcloud")
         except:

src/lidar_visualizer/datasets/helipr.py

@@ -20,7 +20,6 @@
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
-import importlib
 import os
 import struct
 import sys
@@ -34,14 +33,6 @@
 
 class HeLiPRDataset:
     def __init__(self, data_dir: Path, *_, **__):
-        try:
-            self.o3d = importlib.import_module("open3d")
-        except ModuleNotFoundError as e:
-            raise ModuleNotFoundError(
-                "Open3D is not installed on your system, to fix this either "
-                'run "pip install open3d" '
-                "or check https://www.open3d.org/docs/release/getting_started.html"
-            ) from e
         # Intensity stuff
         import matplotlib.cm as cm
 
@@ -112,11 +103,9 @@ def get_data(self, idx: int):
     def read_point_cloud(self, idx: int):
         data = self.get_data(idx)
         points = data[:, :3]
-        scan = self.o3d.geometry.PointCloud()
-        scan.points = self.o3d.utility.Vector3dVector(points)
+        colors = None
         if self.intensity_channel is not None:
             intensity = data[:, self.intensity_channel]
             intensity = (intensity - intensity.min()) / (intensity.max() - intensity.min())
             colors = self.cmap(intensity)[:, :3].reshape(-1, 3)
-            scan.colors = self.o3d.utility.Vector3dVector(colors)
-        return scan
+        return points, colors

src/lidar_visualizer/datasets/ouster.py

@@ -21,9 +21,7 @@
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
-
 import glob
-import importlib
 import os
 from typing import Optional
 
@@ -90,14 +88,6 @@ def __init__(
             raise ModuleNotFoundError(
                 f'ouster-sdk is not installed on your system, run "pip install ouster-sdk"'
             ) from e
-        try:
-            self.o3d = importlib.import_module("open3d")
-        except ModuleNotFoundError as e:
-            raise ModuleNotFoundError(
-                "Open3D is not installed on your system, to fix this either "
-                'run "pip install open3d" '
-                "or check https://www.open3d.org/docs/release/getting_started.html"
-            ) from e
 
         # since we import ouster-sdk's client module locally, we keep it locally as well
         self._client = client
@@ -139,7 +129,6 @@ def __init__(
 
     def get_color_image(self, scan):
         """This function was taken from the Ouster SDK. All rights reserved to Ouster, Inc
-
         https://github.com/ouster-lidar/ouster_example/blob/master/python/src/ouster/sdk/examples/open3d.py
         """
         fields = list(scan.fields)
@@ -173,11 +162,10 @@ def __getitem__(self, idx):
         xyz = self._xyz_lut(scan)[sel_flag]
         ref = self.get_color_image(scan)[sel_flag]
 
-        # Build Open3D object
-        cloud = self.o3d.geometry.PointCloud()
-        cloud.points = self.o3d.utility.Vector3dVector(xyz.reshape((-1, 3)))
-        cloud.colors = self.o3d.utility.Vector3dVector(ref.reshape((-1, 3)))
-        return cloud
+        points = xyz.reshape((-1, 3))
+        colors = ref.reshape((-1, 3))
+
+        return points, colors
 
     def __len__(self):
         return self._scans_num

src/lidar_visualizer/datasets/point_cloud2.py

@@ -38,7 +38,6 @@
 
 import matplotlib.cm as cm
 import numpy as np
-import open3d as o3d
 
 try:
     from rosbags.typesys.types import sensor_msgs__msg__PointCloud2 as PointCloud2
@@ -77,12 +76,12 @@ def read_point_cloud(msg: PointCloud2):
             points_structured["z"],
         ]
     ).astype(np.float64)
-    scan = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(points))
+    colors = None
     if intensity_field:
         intensity = points_structured[intensity_field].astype(np.float64)
         intensity = intensity / intensity.max()
-        scan.colors = o3d.utility.Vector3dVector(cm.viridis(intensity)[:, :3].reshape(-1, 3))
-    return scan
+        colors = cm.viridis(intensity)[:, :3].reshape(-1, 3)
+    return points, colors
 
 
 def read_points(

src/lidar_visualizer/lidar_visualizer.py

@@ -151,12 +151,6 @@ def lidar_visualizer(
     if not dataloader:
         dataloader, data = guess_dataloader(data, default_dataloader="generic")
 
-    if (jump != 0 or n_scans != -1) and dataloader not in jumpable_dataloaders():
-        print(f"[WARNING] '{dataloader}' does not support '-jump' or '--n_scans'")
-        print(f"[WARNING] Visualazing entire dataset")
-        jump = 0
-        n_scans = -1
-
     Visualizer(
         dataset=dataset_factory(
             dataloader=dataloader,
@@ -165,6 +159,7 @@ def lidar_visualizer(
             topic=topic,
             meta=meta,
         ),
+        random_accessible_dataset=dataloader in jumpable_dataloaders(),
         n_scans=n_scans,
         jump=jump,
     ).run()