relaxing open3d version requirement

Author: jonyMarino

client/python/projectairsim/pyproject.toml

@@ -36,7 +36,7 @@ dependencies = [
   "jsonlines",
   "Shapely",
   "azure-storage-blob",
-  "open3d==0.16.*"
+  "open3d>=0.16.0"
 ]
 
 [project.optional-dependencies]

client/python/projectairsim/src/projectairsim/lidar_utils.py

@@ -24,8 +24,8 @@ def __init__(self):
     class SetViewBoundsRequest:
         """Class for requesting the display loop recalculate the view bounds"""
 
-        def __init__(self):
-            pass
+        def __init__(self, view_bounds):
+            self.view_bounds = view_bounds
 
     class ViewChangeRequest:
         """Class for making a view change request to the display loop"""
@@ -96,7 +96,7 @@ def __init__(
         if (view == self.VIEW_CUSTOM) and (
             not lookat_xyz or not view_front or not view_up
         ):
-            raise ArgumentError(
+            raise ValueError(
                 "LidarDisplay: View is VIEW_CUSTOM but one or more of lookat_xyz,"
                 " view_front, or view_up arguments are missing"
             )
@@ -116,7 +116,7 @@ def __init__(
                 self.PLASMA_PALLETE.shape[0],
             )
         else:
-            raise ArgumentError("LidarDisplay: Invalid color_intensity_range")
+            raise ValueError("LidarDisplay: Invalid color_intensity_range")
 
     def set_view_preset(self, view: int, lookat_xyz=None):
         if view == self.VIEW_TOPDOWN:
@@ -138,11 +138,11 @@ def set_view_preset(self, view: int, lookat_xyz=None):
             self.lookat_xyz = [0.0, 0.0, 5.0] if not lookat_xyz else lookat_xyz
             self.view = view
         elif view == self.VIEW_CUSTOM:
-            raise ArgumentError(
+            raise ValueError(
                 "VIEW_CUSTOM is not valid here--call set_view_custom() instead"
             )
         else:
-            raise ArgumentError(f"Unrecognized preset view ID {view}")
+            raise ValueError(f"Unrecognized preset view ID {view}")
 
         if self.running:
             self.control_q.put(
@@ -366,13 +366,16 @@ def display_loop(self):
                     self.set_view()
 
                 # Do Open3D processing
-                self.o3d_vis.poll_events()
-                self.o3d_vis.update_renderer()
+                if self.window_created:
+                    self.o3d_vis.poll_events()
+                    self.o3d_vis.update_renderer()
 
         except KeyboardInterrupt:
             pass  # Just exit normally
 
         finally:
+            if self.window_created:
+                self.o3d_vis.destroy_window()
             self.window_created = False
 
     def receive(self, lidar_data):