First separate header and data

grep -vP  '^#' input.vcf > data.vcf
grep -P  '^#' input.vcf > header.vcf

Use R to remove . Open R terminal. Move to the direcotry in which data.vcf is there and run below

df = read.table("data.vcf", sep="\t")

# till format column
df1 = df[,1:9]
# sample columns
df2 = df[,10:ncol(df)]
# remove samples with ./.
df2 = df2[,-which(apply(df2,2,function(x){sum(x=="./.")==length(x)})), drop = F]
# rejoin with data till format
df = cbind(df1,df2)
# export
write.table(df, file = "temp2.vcf", col.names = F, row.names = F, quote = F,sep="\t", eol = "\n")

Rejoin

cat header.vcf > final.vcf
cat temp2.vcf >> final.vcf

Above solution will work if

• Multiple sample present in vcf file
• At least one sample have non ./. entry

not tested, a one-liner, use bcftools stats to count the number of called genotypes per samples, use those samples to select the called samples with bcftools view.

bcftools view --samples `bcftools stats -s '-' in.vcf.gz | awk '$1=="PSC" && (int($4)+int($5)+int($6) > 0) {print $3}' | paste -s -d',' ` in.vcf.gz

If you are a Python user, you may want to check out the pyvcf submodule I wrote:

>>> from fuc import pyvcf
>>> data = {
...     'CHROM': ['chr1', 'chr2'],
...     'POS': [100, 101],
...     'ID': ['.', '.'],
...     'REF': ['G', 'T'],
...     'ALT': ['A', 'C'],
...     'QUAL': ['.', '.'],
...     'FILTER': ['.', '.'],
...     'INFO': ['.', '.'],
...     'FORMAT': ['GT', 'GT'],
...     'Steven': ['0/1', '1/1'],
...     'Rachel': ['./.', './.']
... }
>>> vf = pyvcf.VcfFrame.from_dict([], data) # vf = pyvcf.VcfFrame.from_file('your_file.vcf')
>>> vf.df
  CHROM  POS ID REF ALT QUAL FILTER INFO FORMAT Steven Rachel
0  chr1  100  .   G   A    .      .    .     GT    0/1    ./.
1  chr2  101  .   T   C    .      .    .     GT    1/1    ./.
>>> f = lambda r: r[9:].apply(pyvcf.gt_miss)
>>> s = vf.df.apply(f, axis=1).all()
>>> l = s[s == False].index.to_list()
>>> filtered_vf = vf.subset(l)
>>> #filtered_vf.to_file('filtered.vcf')
>>> filtered_vf.df
  CHROM  POS ID REF ALT QUAL FILTER INFO FORMAT Steven
0  chr1  100  .   G   A    .      .    .     GT    0/1
1  chr2  101  .   T   C    .      .    .     GT    1/1

FYI, your question motivated me to write the pyvcf.VcfFrame.cfilter_empty method for the v0.11.0 version.