Kissualizer: a new KISS-ICP visualizer!

[l00p3]

I want to propose a new visualizer for KISS-ICP. The current visualizer presents some issues in my opinion:

• No GUI: this reduces a lot the usability, one have to read the keyboard key to press on the terminal in order to move around
• The previous point become even more problematic because of Open3D warnings that appear sometime
• Passing from global view to local view (and the other way around) requires to trigger the next frame in order to visualize the changes
• No possibility to modify point size individually for each cloud visualized
• No possibility to visualize any other information, because, again, no GUI
• No flexibility at all in case ones want to introduce new features
• Copies happening in the code, due to the incompatibility between data structures used

All these cons are there because Open3D is not meant to be used as a general visualizer.

I'll take over here: Kissualizer, a new visualizer using polyscope, a library which purpose is exactly visualize 3D data. Here some pros presented with my visualizer:

• GUI: we can use graphical buttons, slides and whatever to control our visualization, still maintaining the possibility to use the keyboard (also the possibility to add a visual legend on the screen opens here)
• No weird warning appearing in the terminal
• Global/Local views switch is not anymore a problem
• Point sizes can be modified individually for each cloud
• Possibility to visualize other information, like FPS, current parameters used and so on
• Background color change with palette
• Huge flexibility for the introduction of new features
• No copy happening in the background, polyscope works with the data structures that you already use

This is just to scratch the surface, with polyscope you can give vent to all your dirtiest graphic fantasies!

Here a demo to show the current implementation that I propose (the frame rate seems pretty low because of the GIF format, try it on your machine!):

Of course I just added some basic features, but this can be really expanded a lot. For now I just want to show you the potential of using a real visualizer. In case you like it I can work on new features, better implementation code side and whatever you want. Also, I used a slighlty different color palette, but this, of course, can be adjusted. It is time for KISS-ICP to embrace the future!

Here the github page of polyscope in case you need more information. Here the 'pybinded' version.

Oh, this would add only a simple optional dependency python side, a simple pip install polyscope.

[nachovizzo]

Waaaaaaaaaat 🤤 I dream finally come true 🥹 I always wanted to use the new visualizer and leave the legacy open3d behind

Thanks!!!!!!! I'll check this out as soon as possible

[nachovizzo]

@benemer , @tizianoGuadagnino

Do we want to keep a legacy visualizer for those who "don't want / can't" install polyscope? I checked the compatibility of polyscope with different platforms/os, and it's on par with our compatibility check, so it shouldn't be a problem. Also, its only binary dependency is numpy.

I vote to kill the old visualizer but just raising this concern here in case someone else have a different opinion

[tizianoGuadagnino]

@nachovizzo for me the old visualizer should die, in principle it should never being born. It is fair to kill it now

[benemer]

@benemer , @tizianoGuadagnino

Do we want to keep a legacy visualizer for those who "don't want / can't" install polyscope? I checked the compatibility of polyscope with different platforms/os, and it's on par with our compatibility check, so it shouldn't be a problem. Also, its only binary dependency is numpy.

I vote to kill the old visualizer but just raising this concern here in case someone else have a different opinion

Yes, let's kill it. If you can afford to install open3d, you can also install polyscope instead, right?

[l00p3]

Ok, I think now the shape is way better. if you have other requests I am here to satisfy them.

[l00p3]

Just another feature added: if you are in global view and in PAUSE mode, you can double click on a pose on the trajectory to visualize its position in the global frame. Let me know if you want to keep this feature. I want to point out the fact that this "click" on object to visualize some related information opens a lot of possibilities if you want. Good to keep in mind.