PointScope

PointScope is a tool aiming to help 3D computer vision researcher to visulize 3D point cloud easily.

It provides:

• Point cloud visualization with one-liner style command.
• Visualize point cloud locally or remotely.
• Easy to switch backend (Open3D/Vedo).
• Auto-save camera perspective.
• Savable visualization session.

Dependencies

• Numpy
• Open3D
• vedo
• grpc

Installation

Use conda environment (optional)

conda create --name psc python==3.8
conda activate psc

Install via Github

pip3 install git+https://github.com/SheldonVon98/PointScope.git

Usage

Initiate some variables for visulization

import numpy as np
point_cloud = np.random.random((1000, 3))
point_cloud_color = np.random.random((1000, 3))
point_cloud_normal = np.random.random((1000, 3))
another_pcd = np.random.random((30000, 3))*2+np.array([-0.5, -0.5, 2.0])

Local Visualization

from pointscope import PointScopeO3D as PSC     # Use Open3D backend
# from pointscope import PointScopeVedo as PSC  # Use Vedo backend

Visualize point cloud with color.

PSC().add_pcd(point_cloud).add_color(point_cloud_color).show() 

Visualize point cloud with normal.

PSC().add_pcd(point_cloud).add_normal(point_cloud_normal).show() 

Visualize point cloud with both.

PSC().add_pcd(point_cloud).add_color(point_cloud_color).add_normal(point_cloud_normal).show() 

Remote Visualization

Start a reverse tunnel with ssh

ssh RemoteServer -N -R 50051:0.0.0.0:50051

Start PointScope server

python3 -m pointscope --server

Start PointScope clinet

from pointscope import PointScopeClient as PSC

# Use Open3D backend
PSC().o3d(show_coor=False, bg_color=[0.2, 0.3, 0.3]) \
    .add_pcd(point_cloud).add_color(np.zeros_like(point_cloud))\
    .add_pcd(another_pcd)\
    .add_lines(point_cloud[:20], another_pcd[:20]) \
    .show()

# Use Vedo backend
PSC().vedo(subplot=2, bg_color=[0.2, 0.3, 0.3]) \
    .add_pcd(point_cloud).add_color(np.zeros_like(point_cloud))\
    .add_pcd(another_pcd)\
    .draw_at(1) \
    .add_pcd(point_cloud).add_color(np.zeros_like(point_cloud))\
    .add_pcd(another_pcd)\
    .add_lines(point_cloud[:20], another_pcd[:20]) \
    .show()

Visualize PCD in Terminal

# Force the file format 'txt' to be 'xyzn' 
python3 -m pointscope --show pointcloud_1.txt:xyzn airplane_0002.ply

# Show them remotely
python3 -m pointscope --remote --show pointcloud_1.txt:xyzn airplane_0002.ply

Saving & Loading Visulization

This functionality is supported by both local and remote visualization.

PSC().add_pcd(point_cloud).add_color(np.zeros_like(point_cloud))\
    .add_pcd(another_pcd)\
    .add_lines(point_cloud[:20], another_pcd[:20]) \
    .show() \
    .save() # Add this line to save the whole session.

# Load the visualization session.
python3 -m pointscope --load PointScope_2023-08-02T01:01:12.pkl

Call for Contributions

The PointScope project welcomes your expertise and enthusiasm!