import viser
import open3d as o3d
import numpy as np
import sys
import time

if len(sys.argv) < 2:
    print("Usage: python vis.py <path_to_pcd_file>")
    sys.exit(1)

pcd_file = sys.argv[1]
pcd = o3d.io.read_point_cloud(pcd_file)
points = np.asarray(pcd.points)
colors = np.asarray(pcd.colors).astype(float) if pcd.has_colors() else None

# 启动 Viser 服务器
server = viser.ViserServer(port=8088)  # 可自定义端口
server.scene.background_color = (0.1, 0.1, 0.1)
# 添加点云
server.add_point_cloud(
    name="/pointcloud",
    points=points,
    colors=colors,
    point_size=0.003,
)

# Keep the script running
while True:
    time.sleep(0.1)