diff --git a/requirements.txt b/requirements.txt
index 482e0edb..b1e73784 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -20,8 +20,8 @@ einops
 ninja
 yacs
 pytest
-numpy<=1.26.4 # Tag numpy 1.26.4 for Open3D issue (https://github.com/numpy/numpy/issues/26853)
-open3d==0.18.0
+numpy
+open3d==0.19.0
 pycolmap==3.13.0
 ruff==0.6.7
 clang-format==19.1.0
diff --git a/visualize_colmap_model.py b/visualize_colmap_model.py
index dcff7dc5..dff4c8d1 100644
--- a/visualize_colmap_model.py
+++ b/visualize_colmap_model.py
@@ -21,10 +21,10 @@ def parse_args():
         help="whether to use computed robust ranges",
     )
     arg_parser.add_argument(
-        "--scale",
+        "--point_size",
         type=float,
-        default=1.0,
-        help="scaling both the lines and the camera geometry",
+        default=2.0,
+        help="Point size",
     )
     arg_parser.add_argument(
         "--cam_scale",
@@ -32,24 +32,42 @@ def parse_args():
         default=1.0,
         help="scale of the camera geometry",
     )
+    arg_parser.add_argument(
+        "--reproj_error_thresh",
+        type=float,
+        default=2.0,
+        help="reprojection error threshold",
+    )
     args = arg_parser.parse_args()
     return args
 
 
-def vis_colmap_reconstruction(recon: pycolmap.Reconstruction, ranges=None):
+def vis_colmap_reconstruction(
+    args, recon: pycolmap.Reconstruction, ranges=None
+):
     vis = o3d.visualization.Visualizer()
     vis.create_window(height=1080, width=1920)
-    points = np.array([point.xyz for _, point in recon.points3D.items()])
-    pcd = limapvis.open3d_get_points(points, ranges=ranges)
+    pts = np.array([p.xyz for p in recon.points3D.values()], dtype=np.float32)
+    if args.reproj_error_thresh > 0.0:
+        errs = np.array(
+            [p.error for p in recon.points3D.values()], dtype=np.float32
+        )
+        mask = errs <= args.reproj_error_thresh  # e.g. keep colored, low-error
+        pts = pts[mask]
+    print(f"Number of valid points for visualization: {pts.shape[0]}")
+    pcd = limapvis.open3d_get_points(pts, ranges=ranges)
     vis.add_geometry(pcd)
     imagecols = pointsfm.convert_colmap_to_imagecols(recon)
     camera_set = limapvis.open3d_get_cameras(
         imagecols,
         ranges=ranges,
-        scale_cam_geometry=args.scale * args.cam_scale,
-        scale=args.scale,
+        scale_cam_geometry=args.cam_scale,
     )
     vis.add_geometry(camera_set)
+
+    opt = vis.get_render_option()
+    opt.point_size = args.point_size
+
     vis.run()
     vis.destroy_window()
 
@@ -60,7 +78,7 @@ def main(args):
     if args.use_robust_ranges:
         points = np.array([point.xyz for _, point in recon.points3D.items()])
         ranges = limapvis.compute_robust_range_points(points)
-    vis_colmap_reconstruction(recon, ranges=ranges)
+    vis_colmap_reconstruction(args, recon, ranges=ranges)
 
 
 if __name__ == "__main__":