After few months of hard work, PlotJuggler 4 is finally ready for an early preview!
Expect bugs and missing features, but also ton of awesomeness unleashed.
Everything was brutally optimized. Playing a compressed MCAP, reading lazily the file from disk, and rendering 3 videos and the two 3D scenes above, for a total of 6 pointclouds, uses only 50% of a single CPU core.
Features: too many to list
- 2D: images, compressed images, depth, compressed video (H264, AV1).
- 2D: image rectification!
- 2D: real-time streaming with WebRTC!
- 2D: markers!
- 3D: meshes, occupancygrid, TF2, 3D markers
- 3D: pointclouds, including compressed ones (Draco and Cloudini)
- 3D: multiple cameras control, similar to RViz
On the “core” side
- Refactor data engine that will use up to 5x less memory when loading large datasets.
- To be opened soon: a marketplace of “Extensions” (think VSCode equivalent) to share plugins with others.
- a new parallel MCAP loader that can load compressed MCAPs about 4X faster.
And (this is big) integration with Mosaico to access directly data stored in the cloud.
