plot_point_cloud.py

from argparse import ArgumentParser
from pathlib import Path
import plotly.graph_objects as go
import numpy as np
import h5py
import plotly.io as pio

pio.templates.default = "plotly_dark"

def plot_point_cloud(file: Path, noise: bool = False):
    if not file.exists():
        raise FileNotFoundError(f"Error: {file} does not exist")

    with h5py.File(file) as data:
        x = data[f"location{'_noise' if noise else ''}_x"][()][0].astype(np.float32)
        y = data[f"location{'_noise' if noise else ''}_y"][()][0].astype(np.float32)
        z = data[f"location{'_noise' if noise else ''}_z"][()][0].astype(np.float32)
        intensity = data["intensity"][()][0].astype(np.float32)

    fig = go.Figure(
        data=[
            go.Scatter3d(
                x=x,
                y=y,
                z=z,
                mode="markers",
                marker=dict(
                    size=3, color=intensity, colorscale="Viridis", opacity=0.8
                ),
            )
        ]
    )

    fig.update_layout(scene=dict(aspectmode="data"))
    fig.show()


def main():
    parser = ArgumentParser()
    parser.add_argument("file", type=Path, help="Path to the .hdf5 point cloud file")
    parser.add_argument("--noise", action="store_true", help="Plot the noisy point cloud")
    args = parser.parse_args()
    plot_point_cloud(args.file, noise=args.noise)

if __name__ == "__main__":
    main()