Method run

utils/viser_tracking_visualizer.py:887–965

Start the visualizer server.

(self)

                    last_slider_update = next_frame
    
    def run(self):
        """Start the visualizer server."""
        self.server = viser.ViserServer(port=self.port)
        
        # Set up GUI
        self._setup_gui()
        
        # Add checkerboard ground plane with alternating colored patches
        cell_size = 2.5  # 2.5m cells (10x larger)
        grid_extent = 15.0  # +/- 15m (10x larger)
        color1 = (140, 140, 140)  # Gray
        color2 = (180, 180, 180)  # Light gray
        
        # Create each cell as a separate mesh (allows different colors)
        cell_idx = 0
        for i, x in enumerate(np.arange(-grid_extent, grid_extent, cell_size)):
            for j, y in enumerate(np.arange(-grid_extent, grid_extent, cell_size)):
                # Four corners of this cell
                vertices = np.array([
                    [x, y, -0.001],
                    [x + cell_size, y, -0.001],
                    [x + cell_size, y + cell_size, -0.001],
                    [x, y + cell_size, -0.001],
                ], dtype=np.float32)
                faces = np.array([[0, 1, 2], [0, 2, 3]], dtype=np.uint32)
                
                # Checkerboard pattern
                color = color1 if (i + j) % 2 == 0 else color2
                
                self.server.scene.add_mesh_simple(
                    f"/ground/cell_{cell_idx}",
                    vertices=vertices,
                    faces=faces,
                    color=color,
                )
                cell_idx += 1
        
        # Add grid lines on top for reference
        self.server.scene.add_grid(
            "/grid",
            width=30.0,
            height=30.0,
            plane="xy",
            position=(0, 0, 0),
            cell_color=(120, 120, 120),     # Gray grid lines
            section_color=(100, 100, 100),  # Darker section lines
            cell_size=2.5,                   # Match cell size
            section_size=5.0,                # 5m sections
        )
        
        # Set up direction (Z-up for visualization, we convert from Y-up ARKit)
        self.server.scene.set_up_direction("+z")
        
        # Initial scene
        self._update_scene()
        
        # Start playback thread
        playback_thread = threading.Thread(target=self._playback_loop, daemon=True)