fix & speedup show_gui

[Linyou]

This pull request makes the following changes to the project:

1. Replaces dearpygui with taichi GUI, which is based on imgui and allows for direct transfer of tensors to the GPU frame buffer without requiring a trip back to the CPU.
2. Fixes a rotation bug where the rotation would not stop when the mouse movement stopped.
3. Adds visualization of dataset poses.

There are also the following interface changes:

1. w and s can be used to move forward and backward instead of using the mouse scroll.
2. q and e can be used to move up and down, and a and d can be used to move left and right.
3. Use right-click instead of left-click to control rotation.

[kwea123]

my 4090 cannot build taichi at the moment... will try once it gets supported

[kwea123]

how much speed up do you get by switching dearpygui to taichi?

[Linyou]

how much speed up do you get by switching dearpygui to taichi?

I get a 2-3 fps increase in the Lego scenes after switching to taichi, but the movement appears to be smoother. Also, taichi GUI calculates FPS in C++, while dearpygui does not provide a reliable way to evaluate FPS, so the FPS measured in Python for dearpygui may not be accurate.

[Michelvl92]

Any update on this?