Go back to delayed import for performance reasons

README.md

@@ -6,13 +6,23 @@ A flexible, easy-to-use, LiDAR (or any point cloud) visualizer for Linux, Window
 
 If you also need to obtain poses from your dataset, consider checking out [KISS-ICP](https://github.com/PRBonn/kiss-icp).
 
-## Install
+## Install (\*)
 
 ```sh
 pip install lidar-visualizer
 ```
 
-Next, follow the instructions on how to run the system by typing:
+(\*) This package relies on the power of [Open3D](https://www.open3d.org) but does not list it as a dependency. If you haven't installed `open3d` then `pip install open3d` or check [the official instructions](https://www.open3d.org/docs/release/getting_started.html)
+
+## Optional dependencies
+
+Depending on the [dataloaders](./src/lidar_visualizer/datasets/) you plan to use you might need to install optional dependencies. The tool will prompt which tools is the one you are requesting and is not accessible, but if you want to go for brute force and install all of it just run:
+
+```sh
+pip install lidar-visualizer[all]
+```
+
+## Usage
 
 ```sh
 lidar_visualizer --help

pyproject.toml

@@ -33,15 +33,14 @@ dependencies = [
   "natsort",
   "numpy",
   "tqdm",
-  "open3d>=0.16.0",
   "typer[all]>=0.6.0",
 ]
 
 [project.optional-dependencies]
 all = [
   "pyntcloud",
   "trimesh",
-  "ouster-sdk>=0.7.1",
+  "ouster-sdk",
 ]
 
 [project.urls]

src/lidar_visualizer/visualizer.py

@@ -20,26 +20,37 @@
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
+import importlib
 import os
 from functools import partial
 from typing import Callable, List
 
-import open3d as o3d
 from tqdm import tqdm
 
 
 class Visualizer:
     def __init__(self, dataset, n_scans: int = -1, jump: int = 0):
+        # Open3D is a big monster. This package dependes 100% on it, but each user will need to
+        # figure out how to install it properly
+        try:
+            self.o3d = importlib.import_module("open3d")
+        except ModuleNotFoundError:
+            print(
+                "Open3D is not installed on your system, to fix this either "
+                'run "pip install open3d" '
+                "or check https://www.open3d.org/docs/release/getting_started.html"
+            )
+            exit(1)
         # Initialize GUI controls
         self.block_vis = True
         self.play_crun = False
         self.reset_bounding_box = True
 
         # Create data
-        self.source = o3d.geometry.PointCloud()
+        self.source = self.o3d.geometry.PointCloud()
 
         # Initialize visualizer
-        self.vis = o3d.visualization.VisualizerWithKeyCallback()
+        self.vis = self.o3d.visualization.VisualizerWithKeyCallback()
         self._register_key_callbacks()
         self._initialize_visualizer()
 
@@ -103,7 +114,7 @@ def _get_frame(self, idx):
         return frame
 
     def _update_geometries(self, source):
-        self.source.points = o3d.utility.Vector3dVector(source)
+        self.source.points = self.o3d.utility.Vector3dVector(source)
         self.vis.update_geometry(self.source)
         if self.reset_bounding_box:
             self.vis.reset_view_point(True)