Viser and multi-window display functionality

[tiantianxiangshang629]

Instructions to run the visualization

conda env create -f visualization/environment.yml
conda activate gtsfm-dask
python visualization/pointcloud_visualizer.py --nodes N

The system consists of the following components:

1. Worker Threads:

• N worker threads, each launching a separate Viser server.
• Each worker generates a point cloud and adds it to its respective Viser server scene.

2. Master Thread:

• A master thread launches the main Viser server.
• This server displays the main visualization and is used to aggregate and visualize the merged point clouds.

3. Web Server:

• Creates a main display to show the aggregated (merged) point cloud.
• Provides sub-windows for viewing the individual worker Viser servers.
• Includes buttons to:
  -- Merge point clouds into the main display.
  -- Clear the main display point cloud visualization.

[liuzongyue6]

I encountered an issue when trying to create the environment using visualization/environment.yml. T
he error indicates that certifi==10000 is an invalid or non-existent version.
This appears to be a typo, and replacing it with a valid version (e.g., certifi==2024.12.14) resolves the issue.