Point cloud app

[hietalajulius]

Adds a new pointcloud app

• Usage: ./pointcloud <path-to-the-directory-containing-the-ply-files>
• Metadata is expected to be in <path-to-the-directory-containing-the-ply-files>
• Top level abstraction Studio (direct copy of previous LabelStudio)
  • Handles glfw inputs and passes them to the controller
  • Takes the controller type (StudioViewController/PointCloudViewController) as a template argument
• StudioViewController more or less unchanged (old studio stuff)
• A new PointCloudViewController (point cloud studio stuff)
  • Manages the currently annotated cloud/annotations path/metadata etc
  • There is some overlap between StudioViewController, some of this can be moved to a base class in the future

• SceneModel is only concerned about the keypoints/boxes/rects present in studio, things such as image paths/camera intrinsics/other "Stray scene" specific things moved to the controller (for now)

  • Where to save/load annotations is parameterized and up to the controller
  • Making a base class out of SceneModel really was not feasible since being able to use subclasses like StraySceneModel ("Stray scene" specific) and PointCloudSceneModel (point clouds specific) would require quite big refactoring since SceneModel is used quite broadly.

  TODOs left:

  • Some of the changes are just autoformatting from my editor, sorry :/
  • Tests are failing, need to fix
  • Implement moving between clouds with tab
  • Save annotations for each point cloud, currently saves to <path-to-the-directory-containing-the-ply-files>/annotations.json for every cloud
  • Improve camera robustness when loading large scenes

[kekeblom]

Looks ok to me on an initial review. Maybe moving some of the stuff that is common with the point cloud controller and studio view controller to a helper class could be nice.

There are quite a few warnings when compiling from scratch, which might be nice to fix.

I'll try this out and contribute some fixes.