82f71fcc96
Stage 04 frame extract:
- New lib_frame_qc.py: per-frame Laplacian/contrast/blue-dominance scoring
- Classes: bottom_visible / water_no_bottom / turbid_water / out_of_water
- Sample 1/5 frames after extraction, write qc.json per segment
- Record metrics (frames_total, frames_bottom_visible, bottom_visible_pct)
- Mark job degraded when bottom_visible_pct < 50%
Per-AUV viser view:
- scripts/viser_auv.py loads all PLYs of an AUV, color per file
- POST /pipeline/missions/{id}/auvs/{auv}/view rsyncs ply -> worker
- launches viser on hashed port 9300+, returns URL
- _pipeline.html exposes AUV list, JS handler opens viser tab
73 lines
2.2 KiB
Python
73 lines
2.2 KiB
Python
#!/usr/bin/env python3
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"""Open viser viewer with all PLYs from one AUV.
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Usage:
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viser_auv.py --ply-dir /path/to/auv/ply --port 9210
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"""
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from __future__ import annotations
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import argparse
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import sys
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import time
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from pathlib import Path
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import numpy as np
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def main() -> None:
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ap = argparse.ArgumentParser()
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ap.add_argument("--ply-dir", required=True)
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ap.add_argument("--port", type=int, default=9210)
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ap.add_argument("--point-size", type=float, default=0.01)
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ap.add_argument("--max-points-per-ply", type=int, default=1_500_000)
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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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ply_dir = Path(args.ply_dir)
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plys = sorted(ply_dir.glob("**/*.ply"))
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print(f"Found {len(plys)} PLY files in {ply_dir}", flush=True)
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if not plys:
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sys.exit("no PLY found")
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server = viser.ViserServer(host="0.0.0.0", port=args.port)
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palette = [
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(1.0, 0.30, 0.30), (0.30, 1.0, 0.30), (0.30, 0.55, 1.0),
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(1.0, 0.85, 0.20), (1.0, 0.30, 1.0), (0.30, 1.0, 1.0),
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(1.0, 0.55, 0.20), (0.55, 0.30, 1.0),
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]
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for i, p in enumerate(plys):
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pcd = o3d.io.read_point_cloud(str(p))
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pts = np.asarray(pcd.points, dtype=np.float32)
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if len(pts) == 0:
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print(f" ! {p.name}: empty", flush=True)
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continue
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if pcd.has_colors():
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cols = np.asarray(pcd.colors, dtype=np.float32)
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else:
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cols = np.tile(palette[i % len(palette)], (len(pts), 1)).astype(np.float32)
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if len(pts) > args.max_points_per_ply:
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idx = np.random.choice(len(pts), args.max_points_per_ply, replace=False)
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pts = pts[idx]
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cols = cols[idx]
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# viser wants uint8 colors
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cols_u8 = (cols * 255).clip(0, 255).astype(np.uint8)
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name = f"/{p.parent.name}_{p.stem}"
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server.scene.add_point_cloud(
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name=name, points=pts, colors=cols_u8, point_size=args.point_size
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)
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print(f" + {p.name}: {len(pts):,} pts", flush=True)
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print(f"Viser ready on port {args.port}", flush=True)
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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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