Point cloud and pose visualizer

This project is a visualizer for multiple point clouds and their poses. It is designed to be usable both as a standalone GUI and a Python library.

It is based on the Open3D visualization tutorial scripts.

User setup

python3 -m venv .venv
source .venv/bin/activate
pip install --upgrade pip
pip install .

Conda also works just as well as virtualenv.

Additional instructions for the CLI are found in: pviz --help.

If you experience segfault errors when opening the GUI, try adding an environment variable: export XDG_SESSION_TYPE=x11.

Library usage

Follow the src/pointcloud_pose_visualizer/main:cli() function for an example on how to use the library in your own code.

Dev setup

python3 -m venv .venv
source .venv/bin/activate
pip install --upgrade pip
pip install --editable .[dev]
pre-commit install

Conda also works just as well as virtualenv.

Linting, formatting, and pre-commit checks

This project template uses the following tools for autoformatting, linting and checks:

• pre-commit-hooks: small checks, e.g. for file names and end-of-file lines
• ruff: linting and formatting

Pre-commit is used to run these tools automatically when committing to git.

Pre-commit hooks

Pre-commit hooks check and fix formatting before committing. To use them, after installing the project package with pip install -e .[dev], install the hooks with pre-commit install. The next time you commit (or when you run pre-commit run), the hooks will run. If any hooks fail, git add the failed and reformatted files again and try git commit again. If the hooks still fail, you might need to manually fix errors in the files.

Update hook versions easily with pre-commit autoupdate.