Load and visualize pointcloud payloads (and tiles) for a SLAM mission in director.

[nivedchebrolu]

Goal:

Visualize SLAM mission output.

Outline:

• Convert point cloud payload to GNSS frame (See the function here)
• Function in director to convert from GNSS to viewport coordinate.

Notes:

• Ideally, the point cloud payloads/tiles should be compatible with CloudCompare.
• We need to use double in the gnss pointcloud file. (Try ply and pcd).

[benoit-robotics]

Cloud compare 2.11 ( the version that is installed by default on Ubuntu 20.04 with snap ) doesn't support PCD files with double data type.
However the documentation stipulates that the 2.12 version should support it and should correctly interpret the "viewpoint" field as well, but I couldn't load the point clouds in double format converted by the transformer payload node ( https://github.com/ori-drs/vilens/blob/master/vilens_slam/vilens_slam/src/gnss/transform_payload_frames.cpp ).

I could spend more time checking that the transformer payload node correctly write PCD files with double datatype.

[benoit-robotics]

Because of this limitation of cloudcompare, PLY files with double datatype should be preferred. I will try to load them in director