Fix/relax open3d version

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

@@ -1,5 +1,6 @@
 from argparse import ArgumentError
 import multiprocessing as mp
+import time
 
 import numpy as np
 import open3d as o3d
@@ -24,8 +25,8 @@ 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 +97,7 @@ 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 +117,7 @@ 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 +139,11 @@ 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 +367,22 @@ def display_loop(self):
                     self.set_view()
 
                 # Do Open3D processing
-                self.o3d_vis.poll_events()
-                self.o3d_vis.update_renderer()
+                if self.window_created:
+                    # check if window is still open
+                    if not self.o3d_vis.poll_events():
+                        self.running = False
+                        break
+                    self.o3d_vis.update_renderer()
+
+                # Cap frame rate to reduce CPU usage and avoid issues with DWM/WGL on Windows
+                time.sleep(0.01)
 
         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):

docs/client_setup.md

@@ -4,12 +4,12 @@
 
 A Python client uses the following to communicate with the Project AirSim simulation server:
 
-- Python 3.7-3.9, 64-bit
+- Python 3.7 or newer, 64-bit
 - **[pynng](https://github.com/codypiersall/pynng)** nanomsg-next-gen wrapper pip package
 
 ### Setting Up the Client on **Windows**
 
-1. Install Python 3.7-3.9 for Windows. There are many options for installing Python, but one recommended way is to:
+1. Install Python 3.7 or newer for Windows. There are many options for installing Python, but one recommended way is to:
 
     - Download the official **[Windows installer for Python](https://www.python.org/downloads/windows/)**.  Please note that the 64-bit version is required.
 
@@ -21,12 +21,12 @@ A Python client uses the following to communicate with the Project AirSim simula
 
 2. Activate the Python environment to use with Project AirSim.
 
-    If you don't have a suitable Python environment yet, do the following.  Here, we assume we're using Python 3.8 installed in the directory `C:\Python38`, but use the version and directory of your installation of Python:
+    If you don't have a suitable Python environment yet, do the following. Use the version and directory of your installation of Python:
 
     A) Install `virtualenv` and create a new environment (here named `airsim-venv` but you may choose any convenient name):
 
-        C:\Python310\python -m pip install virtualenv
-        C:\Python310\python -m venv C:\path\to\airsim-venv
+        python -m pip install virtualenv
+        python -m venv C:\path\to\airsim-venv
 
     B) Activate your environment:
 
@@ -72,9 +72,9 @@ A Python client uses the following to communicate with the Project AirSim simula
 
 ### Setting Up the Client on **Linux**
 
-1. Install Python 3.7-3.9 to your system:
+1. Install Python 3.7 or newer to your system:
 
-    Ubuntu 20.04 comes with Python 3.8, but Project AirSim requires additional packages:
+    Ubuntu 20.04 comes with Python 3.8, while newer versions like Ubuntu 24.04 come with Python 3.12:
 
         sudo apt install python3-dev python3-venv