60 lines
2.2 KiB
Python
60 lines
2.2 KiB
Python
#!/usr/bin/env python3
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"""Minimal standalone viser viewer for a single PLY point cloud."""
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from __future__ import annotations
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import argparse, sys, time
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import numpy as np
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def main():
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ap = argparse.ArgumentParser()
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ap.add_argument("ply", help="PLY file to visualize")
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ap.add_argument("--port", type=int, default=8200)
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ap.add_argument("--point-size", type=float, default=0.01)
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ap.add_argument("--downsample", type=float, default=0.0)
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ap.add_argument("--max-points", type=int, default=2_000_000)
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ap.add_argument("--no-filter", action="store_true", help="Disable outlier removal")
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args = ap.parse_args()
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try:
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import open3d as o3d
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import viser
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except ImportError as e:
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sys.exit(f"missing dep: {e}")
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pcd = o3d.io.read_point_cloud(args.ply)
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n_raw = len(pcd.points)
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print(f"loaded {n_raw:,} pts from {args.ply}", flush=True)
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if args.downsample > 0:
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pcd = pcd.voxel_down_sample(args.downsample)
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print(f"after voxel downsample: {len(pcd.points):,} pts", flush=True)
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if not args.no_filter and len(pcd.points) > 100:
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# Remove statistical outliers (blobs / noise from low-confidence frames)
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pcd, _ = pcd.remove_statistical_outlier(nb_neighbors=20, std_ratio=2.0)
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print(f"after outlier removal: {len(pcd.points):,} pts", flush=True)
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# Second pass tighter for dense clouds
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if len(pcd.points) > 200_000:
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pcd, _ = pcd.remove_statistical_outlier(nb_neighbors=30, std_ratio=1.5)
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print(f"after 2nd pass: {len(pcd.points):,} pts", flush=True)
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pts = np.asarray(pcd.points, dtype=np.float32)
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cols = np.asarray(pcd.colors, dtype=np.float32) if pcd.has_colors() else np.ones_like(pts) * 0.7
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if len(pts) > args.max_points:
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idx = np.random.choice(len(pts), args.max_points, replace=False)
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pts, cols = pts[idx], cols[idx]
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print(f"displaying {len(pts):,} pts", flush=True)
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server = viser.ViserServer(host="0.0.0.0", port=args.port)
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server.scene.add_point_cloud(
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"/cloud", points=pts, colors=(cols * 255).astype(np.uint8), point_size=args.point_size
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)
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print(f"viser listening on *:{args.port}")
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while True:
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time.sleep(60)
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if __name__ == "__main__":
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main()
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