diff --git a/docs/source/_static/css/custom.css b/docs/source/_static/css/custom.css index a517e9273..4fbb69843 100644 --- a/docs/source/_static/css/custom.css +++ b/docs/source/_static/css/custom.css @@ -1,7 +1,7 @@ img.sidebar-logo { - width: 3em; - margin: 1em 0 0 0; + width: 3em; + margin: 1em 0 0 0; } .sidebar-brand-text { - display: none; + display: none; } diff --git a/docs/source/core.md b/docs/source/core.md deleted file mode 100644 index d08a03711..000000000 --- a/docs/source/core.md +++ /dev/null @@ -1,53 +0,0 @@ -# Viser Core - -Core `viser` API. Designed around :class:`viser.ViserServer`, which (a) launches a -thread with a visualization server and (b) provides a high-level API for -communicating with clients. - - - -.. autoapiclass:: viser.ViserServer - :members: - :undoc-members: - :inherited-members: - -.. autoapiclass:: viser.ClientHandle - :members: - :undoc-members: - :inherited-members: - -.. autoapiclass:: viser.CameraHandle - :members: - :undoc-members: - :inherited-members: - -.. autoapiclass:: viser.SceneNodeHandle - :members: - :undoc-members: - :inherited-members: - -.. autoapiclass:: viser.TransformControlsHandle - :members: - :undoc-members: - :inherited-members: - -.. autoapiclass:: viser.TransformControlsState - :members: - :undoc-members: - -.. autoapiclass:: viser.GuiHandle - :members: - :undoc-members: - :inherited-members: - -.. autoapiclass:: viser.GuiButtonHandle - :members: - :undoc-members: - :inherited-members: - -.. autoapiclass:: viser.GuiSelectHandle - :members: - :undoc-members: - :inherited-members: - - diff --git a/docs/source/examples/05_camera_commands.rst b/docs/source/examples/05_camera_commands.rst index 06d512ed5..5620c2b86 100644 --- a/docs/source/examples/05_camera_commands.rst +++ b/docs/source/examples/05_camera_commands.rst @@ -22,35 +22,31 @@ corresponding client automatically. import viser.transforms as tf server = viser.ViserServer() - - num_buttons = 20 + num_frames = 20 @server.on_client_connect def _(client: viser.ClientHandle) -> None: - """For each client that connects, we create a set of random frames + a button for each frame. + """For each client that connects, we create a set of random frames + a click handler for each frame. - When a button is clicked, we move the camera to the corresponding frame. + When a frame is clicked, we move the camera to the corresponding frame. """ rng = onp.random.default_rng(0) - def make_frame(i: int) -> viser.GuiButtonHandle: + def make_frame(i: int) -> None: # Sample a random orientation + position. wxyz = rng.normal(size=4) wxyz /= onp.linalg.norm(wxyz) position = rng.uniform(-3.0, 3.0, size=(3,)) - # Create a coordinate frame, and a button to move to that frame. + # Create a coordinate frame and label. frame = client.add_frame(f"/frame_{i}", wxyz=wxyz, position=position) client.add_label(f"/frame_{i}/label", text=f"Frame {i}") - button = client.add_gui_button(f"Frame {i}") - @button.on_click + # Move the camera when we click a frame. + @frame.on_click def _(_): - for b in buttons: - b.disabled = True - T_world_current = tf.SE3.from_rotation_and_translation( tf.SO3(client.camera.wxyz), client.camera.position ) @@ -75,14 +71,8 @@ corresponding client automatically. # Mouse interactions should orbit around the frame origin. client.camera.look_at = frame.position - for b in buttons: - b.disabled = False - - return button - - buttons = [] - for i in range(num_buttons): - buttons.append(make_frame(i)) + for i in range(num_frames): + make_frame(i) while True: diff --git a/docs/source/examples/07_record3d_visualizer.rst b/docs/source/examples/07_record3d_visualizer.rst index 8af9496fa..a01d59fe8 100644 --- a/docs/source/examples/07_record3d_visualizer.rst +++ b/docs/source/examples/07_record3d_visualizer.rst @@ -22,6 +22,7 @@ Parse and stream record3d captures. To get the demo data, see ``./assets/downloa from tqdm.auto import tqdm import viser + import viser.extras import viser.transforms as tf @@ -91,7 +92,7 @@ Parse and stream record3d captures. To get the demo data, see ``./assets/downloa position=(0, 0, 0), show_axes=False, ) - frame_nodes: List[viser.SceneNodeHandle] = [] + frame_nodes: List[viser.FrameHandle] = [] for i in tqdm(range(num_frames)): frame = loader.get_frame(i) position, color = frame.get_point_cloud(downsample_factor) diff --git a/docs/source/examples/09_urdf_visualizer.rst b/docs/source/examples/09_urdf_visualizer.rst index b6fc326be..3aeaa35fa 100644 --- a/docs/source/examples/09_urdf_visualizer.rst +++ b/docs/source/examples/09_urdf_visualizer.rst @@ -49,9 +49,14 @@ Examples: for frame_name, mesh in urdf.scene.geometry.items(): assert isinstance(mesh, trimesh.Trimesh) + T_parent_child = urdf.get_transform( + frame_name, urdf.scene.graph.transforms.parents[frame_name] + ) server.add_mesh_trimesh( - frame_name_with_parents(frame_name) + "/mesh", + frame_name_with_parents(frame_name), mesh, + wxyz=tf.SO3.from_matrix(T_parent_child[:3, :3]).wxyz, + position=T_parent_child[:3, 3], ) gui_joints: List[viser.GuiHandle[float]] = [] diff --git a/docs/source/examples/11_colmap_visualizer.rst b/docs/source/examples/11_colmap_visualizer.rst index a13e42043..b1a1a990c 100644 --- a/docs/source/examples/11_colmap_visualizer.rst +++ b/docs/source/examples/11_colmap_visualizer.rst @@ -98,6 +98,15 @@ Visualize COLMAP sparse reconstruction outputs. To get demo data, see ``./assets onp.random.shuffle(img_ids) img_ids = sorted(img_ids[: gui_frames.value]) + def attach_callback( + frustum: viser.CameraFrustumHandle, frame: viser.FrameHandle + ) -> None: + @frustum.on_click + def _(_) -> None: + for client in server.get_clients().values(): + client.camera.wxyz = frame.wxyz + client.camera.position = frame.position + for img_id in tqdm(img_ids): img = images[img_id] cam = cameras[img.camera_id] @@ -110,7 +119,7 @@ Visualize COLMAP sparse reconstruction outputs. To get demo data, see ``./assets T_world_camera = tf.SE3.from_rotation_and_translation( tf.SO3(img.qvec), img.tvec ).inverse() - server.add_frame( + frame = server.add_frame( f"/colmap/frame_{img_id}", wxyz=T_world_camera.rotation().wxyz, position=T_world_camera.translation(), @@ -126,13 +135,14 @@ Visualize COLMAP sparse reconstruction outputs. To get demo data, see ``./assets fy = cam.params[1] image = iio.imread(image_filename) image = image[::downsample_factor, ::downsample_factor] - server.add_camera_frustum( + frustum = server.add_camera_frustum( f"/colmap/frame_{img_id}/frustum", fov=2 * onp.arctan2(H / 2, fy), aspect=W / H, scale=0.15, image=image, ) + attach_callback(frustum, frame) need_update = True diff --git a/docs/source/examples/12_click_meshes.rst b/docs/source/examples/12_click_meshes.rst new file mode 100644 index 000000000..ace52a596 --- /dev/null +++ b/docs/source/examples/12_click_meshes.rst @@ -0,0 +1,96 @@ +.. Comment: this file is automatically generated by `update_example_docs.py`. + It should not be modified manually. + +Click callback demonstration. +========================================== + + +Click on meshes to select them. The index of the last clicked mesh is displayed in the GUI. + + + +.. code-block:: python + :linenos: + + + import time + + import matplotlib + import numpy as onp + import trimesh.creation + + import viser + + + def main() -> None: + grid_shape = (4, 5) + server = viser.ViserServer() + + with server.gui_folder("Last clicked"): + x_value = server.add_gui_number( + name="x", + initial_value=0, + disabled=True, + hint="x coordinate of the last clicked mesh", + ) + y_value = server.add_gui_number( + name="y", + initial_value=0, + disabled=True, + hint="y coordinate of the last clicked mesh", + ) + + def add_swappable_mesh(i: int, j: int) -> None: + """Simple callback that swaps between: + - a gray box + - a colored box + - a colored sphere + + Color is chosen based on the position (i, j) of the mesh in the grid. + """ + + colormap = matplotlib.colormaps["tab20"] + + def create_mesh(counter: int) -> None: + if counter == 0: + mesh = trimesh.creation.box((0.5, 0.5, 0.5)) + elif counter == 1: + mesh = trimesh.creation.box((0.5, 0.5, 0.5)) + else: + mesh = trimesh.creation.icosphere(subdivisions=2, radius=0.4) + + colors = colormap( + (i * grid_shape[1] + j + onp.random.rand(mesh.vertices.shape[0])) + / (grid_shape[0] * grid_shape[1]) + ) + if counter != 0: + assert mesh.visual is not None + mesh.visual.vertex_colors = colors + + handle = server.add_mesh_trimesh( + name=f"/sphere_{i}_{j}", + mesh=mesh, + position=(i, j, 0.0), + ) + + @handle.on_click + def _(_) -> None: + x_value.value = i + y_value.value = j + + # The new mesh will replace the old one because the names (/sphere_{i}_{j}) are + # the same. + create_mesh((counter + 1) % 3) + + create_mesh(0) + + for i in range(grid_shape[0]): + for j in range(grid_shape[1]): + add_swappable_mesh(i, j) + + while True: + time.sleep(10.0) + + + if __name__ == "__main__": + main() diff --git a/docs/source/index.md b/docs/source/index.md index a975d07e6..a5c3818e1 100644 --- a/docs/source/index.md +++ b/docs/source/index.md @@ -57,12 +57,23 @@ URL (default: `http://localhost:8080`). ./development.md .. toctree:: - :caption: API Reference + :caption: API (Core) + :hidden: + :maxdepth: 1 + :titlesonly: + + ./server.md + ./client_handles.md + ./gui_handles.md + ./scene_handles.md + + +.. toctree:: + :caption: API (Additional) :hidden: :maxdepth: 1 :titlesonly: - ./core.md ./infrastructure.md ./transforms.md diff --git a/docs/source/infrastructure.md b/docs/source/infrastructure.md index b9242094b..5514217bc 100644 --- a/docs/source/infrastructure.md +++ b/docs/source/infrastructure.md @@ -1,4 +1,4 @@ -# Infrastructure +# Communication diff --git a/examples/05_camera_commands.py b/examples/05_camera_commands.py index b001529d2..5b5f0b1de 100644 --- a/examples/05_camera_commands.py +++ b/examples/05_camera_commands.py @@ -17,35 +17,31 @@ import viser.transforms as tf server = viser.ViserServer() - -num_buttons = 20 +num_frames = 20 @server.on_client_connect def _(client: viser.ClientHandle) -> None: - """For each client that connects, we create a set of random frames + a button for each frame. + """For each client that connects, we create a set of random frames + a click handler for each frame. - When a button is clicked, we move the camera to the corresponding frame. + When a frame is clicked, we move the camera to the corresponding frame. """ rng = onp.random.default_rng(0) - def make_frame(i: int) -> viser.GuiButtonHandle: + def make_frame(i: int) -> None: # Sample a random orientation + position. wxyz = rng.normal(size=4) wxyz /= onp.linalg.norm(wxyz) position = rng.uniform(-3.0, 3.0, size=(3,)) - # Create a coordinate frame, and a button to move to that frame. + # Create a coordinate frame and label. frame = client.add_frame(f"/frame_{i}", wxyz=wxyz, position=position) client.add_label(f"/frame_{i}/label", text=f"Frame {i}") - button = client.add_gui_button(f"Frame {i}") - @button.on_click + # Move the camera when we click a frame. + @frame.on_click def _(_): - for b in buttons: - b.disabled = True - T_world_current = tf.SE3.from_rotation_and_translation( tf.SO3(client.camera.wxyz), client.camera.position ) @@ -70,14 +66,8 @@ def _(_): # Mouse interactions should orbit around the frame origin. client.camera.look_at = frame.position - for b in buttons: - b.disabled = False - - return button - - buttons = [] - for i in range(num_buttons): - buttons.append(make_frame(i)) + for i in range(num_frames): + make_frame(i) while True: diff --git a/examples/07_record3d_visualizer.py b/examples/07_record3d_visualizer.py index df8c39530..d7135f16f 100644 --- a/examples/07_record3d_visualizer.py +++ b/examples/07_record3d_visualizer.py @@ -12,6 +12,7 @@ from tqdm.auto import tqdm import viser +import viser.extras import viser.transforms as tf @@ -81,7 +82,7 @@ def _(_) -> None: position=(0, 0, 0), show_axes=False, ) - frame_nodes: List[viser.SceneNodeHandle] = [] + frame_nodes: List[viser.FrameHandle] = [] for i in tqdm(range(num_frames)): frame = loader.get_frame(i) position, color = frame.get_point_cloud(downsample_factor) diff --git a/examples/11_colmap_visualizer.py b/examples/11_colmap_visualizer.py index b7a596788..da4e10941 100644 --- a/examples/11_colmap_visualizer.py +++ b/examples/11_colmap_visualizer.py @@ -88,6 +88,15 @@ def visualize_colmap() -> None: onp.random.shuffle(img_ids) img_ids = sorted(img_ids[: gui_frames.value]) + def attach_callback( + frustum: viser.CameraFrustumHandle, frame: viser.FrameHandle + ) -> None: + @frustum.on_click + def _(_) -> None: + for client in server.get_clients().values(): + client.camera.wxyz = frame.wxyz + client.camera.position = frame.position + for img_id in tqdm(img_ids): img = images[img_id] cam = cameras[img.camera_id] @@ -100,7 +109,7 @@ def visualize_colmap() -> None: T_world_camera = tf.SE3.from_rotation_and_translation( tf.SO3(img.qvec), img.tvec ).inverse() - server.add_frame( + frame = server.add_frame( f"/colmap/frame_{img_id}", wxyz=T_world_camera.rotation().wxyz, position=T_world_camera.translation(), @@ -116,13 +125,14 @@ def visualize_colmap() -> None: fy = cam.params[1] image = iio.imread(image_filename) image = image[::downsample_factor, ::downsample_factor] - server.add_camera_frustum( + frustum = server.add_camera_frustum( f"/colmap/frame_{img_id}/frustum", fov=2 * onp.arctan2(H / 2, fy), aspect=W / H, scale=0.15, image=image, ) + attach_callback(frustum, frame) need_update = True diff --git a/examples/12_click_meshes.py b/examples/12_click_meshes.py new file mode 100644 index 000000000..307131d0d --- /dev/null +++ b/examples/12_click_meshes.py @@ -0,0 +1,86 @@ +"""Click callback demonstration. + +Click on meshes to select them. The index of the last clicked mesh is displayed in the GUI. +""" + +import time + +import matplotlib +import numpy as onp +import trimesh.creation + +import viser + + +def main() -> None: + grid_shape = (4, 5) + server = viser.ViserServer() + + with server.gui_folder("Last clicked"): + x_value = server.add_gui_number( + name="x", + initial_value=0, + disabled=True, + hint="x coordinate of the last clicked mesh", + ) + y_value = server.add_gui_number( + name="y", + initial_value=0, + disabled=True, + hint="y coordinate of the last clicked mesh", + ) + + def add_swappable_mesh(i: int, j: int) -> None: + """Simple callback that swaps between: + - a gray box + - a colored box + - a colored sphere + + Color is chosen based on the position (i, j) of the mesh in the grid. + """ + + colormap = matplotlib.colormaps["tab20"] + + def create_mesh(counter: int) -> None: + if counter == 0: + mesh = trimesh.creation.box((0.5, 0.5, 0.5)) + elif counter == 1: + mesh = trimesh.creation.box((0.5, 0.5, 0.5)) + else: + mesh = trimesh.creation.icosphere(subdivisions=2, radius=0.4) + + colors = colormap( + (i * grid_shape[1] + j + onp.random.rand(mesh.vertices.shape[0])) + / (grid_shape[0] * grid_shape[1]) + ) + if counter != 0: + assert mesh.visual is not None + mesh.visual.vertex_colors = colors + + handle = server.add_mesh_trimesh( + name=f"/sphere_{i}_{j}", + mesh=mesh, + position=(i, j, 0.0), + ) + + @handle.on_click + def _(_) -> None: + x_value.value = i + y_value.value = j + + # The new mesh will replace the old one because the names (/sphere_{i}_{j}) are + # the same. + create_mesh((counter + 1) % 3) + + create_mesh(0) + + for i in range(grid_shape[0]): + for j in range(grid_shape[1]): + add_swappable_mesh(i, j) + + while True: + time.sleep(10.0) + + +if __name__ == "__main__": + main() diff --git a/poetry.lock b/poetry.lock index 4af4decd7..fb5dbd46c 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.5.0 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. 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"pooch (>=1.6.0)", "pytest (>=7.0)", "pytest-cov (>=2.11.0)", "pytest-faulthandler", "pytest-localserver"] [[package]] name = "scipy" @@ -1815,18 +2073,19 @@ telegram = ["requests"] [[package]] name = "trimesh" -version = "3.21.7" +version = "3.22.0" description = "Import, export, process, analyze and view triangular meshes." -optional = true +optional = false python-versions = "*" files = [ - {file = "trimesh-3.21.7-py3-none-any.whl", hash = "sha256:f2a22d1e3dba12947927b285dbba216b30ff8993a3f947d1eca5742765fe594a"}, - {file = "trimesh-3.21.7.tar.gz", hash = "sha256:c2d1addcf502522488890440dcdc4ed673c4df95d00e2a567ebc1229d0c186d1"}, + {file = "trimesh-3.22.0-py3-none-any.whl", hash = "sha256:5e32d0ff098afad05a4e7e1d44d6a170bfd486aed2c134cb006ecee5593cce75"}, + {file = "trimesh-3.22.0.tar.gz", hash = "sha256:2ae13c11597855b20546575d77e0aabe3f9a2d653ff593209a0c9e9bd8a76374"}, ] [package.dependencies] chardet = {version = "*", optional = true, markers = "extra == \"easy\""} colorlog = {version = "*", optional = true, markers = "extra == \"easy\""} +embreex = {version = "*", optional = true, markers = "extra == \"easy\""} jsonschema = {version = "*", optional = true, markers = "extra == \"easy\""} lxml = {version = "*", optional = true, markers = "extra == \"easy\""} mapbox-earcut = {version = "*", optional = true, markers = "extra == \"easy\""} @@ -1844,30 +2103,30 @@ sympy = {version = "*", optional = true, markers = "extra == \"easy\""} xxhash = {version = "*", optional = true, markers = "extra == \"easy\""} [package.extras] -all = ["chardet", "colorlog", "glooey", "jsonschema", "lxml", "mapbox-earcut", "meshio", "networkx", "pillow", "psutil", "pycollada", "pyglet (<2)", "python-fcl", "requests", "rtree", "scikit-image", "scipy", "setuptools", "shapely", "svg.path", "sympy", "xatlas", "xxhash"] -easy = ["chardet", "colorlog", "jsonschema", "lxml", "mapbox-earcut", "networkx", "pillow", "pycollada", "requests", "rtree", "scipy", "setuptools", "shapely", "svg.path", "sympy", "xxhash"] +all = ["chardet", "colorlog", "embreex", "glooey", "jsonschema", "lxml", "mapbox-earcut", "meshio", "networkx", "pillow", "psutil", "pycollada", "pyglet (<2)", "python-fcl", "requests", "rtree", "scikit-image", "scipy", "setuptools", "shapely", "svg.path", "sympy", "xatlas", "xxhash"] +easy = ["chardet", "colorlog", "embreex", "jsonschema", "lxml", "mapbox-earcut", "networkx", "pillow", "pycollada", "requests", "rtree", "scipy", "setuptools", "shapely", "svg.path", "sympy", "xxhash"] test = ["autopep8", "coveralls", "ezdxf", "pyinstrument", "pytest", "pytest-cov", "ruff"] [[package]] name = "typing-extensions" -version = "4.6.2" +version = "4.6.3" description = "Backported and Experimental Type Hints for Python 3.7+" optional = false python-versions = ">=3.7" files = [ - {file = "typing_extensions-4.6.2-py3-none-any.whl", hash = "sha256:3a8b36f13dd5fdc5d1b16fe317f5668545de77fa0b8e02006381fd49d731ab98"}, - {file = "typing_extensions-4.6.2.tar.gz", hash = "sha256:06006244c70ac8ee83fa8282cb188f697b8db25bc8b4df07be1873c43897060c"}, + {file = "typing_extensions-4.6.3-py3-none-any.whl", hash = "sha256:88a4153d8505aabbb4e13aacb7c486c2b4a33ca3b3f807914a9b4c844c471c26"}, + {file = "typing_extensions-4.6.3.tar.gz", hash = "sha256:d91d5919357fe7f681a9f2b5b4cb2a5f1ef0a1e9f59c4d8ff0d3491e05c0ffd5"}, ] [[package]] name = "tyro" -version = "0.5.2" +version = "0.5.3" description = "Strongly typed, zero-effort CLI interfaces" optional = false python-versions = ">=3.7,<4.0" files = [ - {file = "tyro-0.5.2-py3-none-any.whl", hash = "sha256:a2e5b3210cd0367e3384106a0615317b4c0297ba7d23dd875f9ba7687a3945a3"}, - {file = "tyro-0.5.2.tar.gz", hash = "sha256:af7ba14084c0f71b473f8d9a520747d755ca5a92724d922b18cc442d3d75c62f"}, + {file = "tyro-0.5.3-py3-none-any.whl", hash = "sha256:5dc67b189694015ac7922124255c8c88274507910e1a02adadf510b730270eca"}, + {file = "tyro-0.5.3.tar.gz", hash = "sha256:ca074d911af86e30c31e2a17a0c58f67573421a98892a1b2bc0baf271dc1862b"}, ] [package.dependencies] @@ -1881,13 +2140,13 @@ typing-extensions = ">=4.3.0,<5.0.0" [[package]] name = "urllib3" -version = "2.0.2" +version = "2.0.3" description = "HTTP library with thread-safe connection pooling, file post, and more." optional = false python-versions = ">=3.7" files = [ - {file = "urllib3-2.0.2-py3-none-any.whl", hash = "sha256:d055c2f9d38dc53c808f6fdc8eab7360b6fdbbde02340ed25cfbcd817c62469e"}, - {file = "urllib3-2.0.2.tar.gz", hash = "sha256:61717a1095d7e155cdb737ac7bb2f4324a858a1e2e6466f6d03ff630ca68d3cc"}, + {file = "urllib3-2.0.3-py3-none-any.whl", hash = "sha256:48e7fafa40319d358848e1bc6809b208340fafe2096f1725d05d67443d0483d1"}, + {file = "urllib3-2.0.3.tar.gz", hash = "sha256:bee28b5e56addb8226c96f7f13ac28cb4c301dd5ea8a6ca179c0b9835e032825"}, ] [package.extras] @@ -2139,9 +2398,9 @@ testing = ["big-O", "flake8 (<5)", "jaraco.functools", "jaraco.itertools", "more [extras] dev = ["black", "mypy", "pyright", "ruff"] -examples = ["smplx", "torch", "trimesh", "yourdfpy"] +examples = ["matplotlib", "smplx", "torch", "trimesh", "yourdfpy"] [metadata] lock-version = "2.0" python-versions = ">=3.8,<3.11" -content-hash = "55e82f0b836d175d28dd285458575f617a7c2ef3550c1f2cc2e895eae15dd4d0" +content-hash = "b47922937eb0363e621c3da1197a524402eb3a39ba9a81d1dba099207fcf7556" diff --git a/pyproject.toml b/pyproject.toml index 01f85fca5..37fe0dbfd 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -31,10 +31,11 @@ pre-commit = { version = "3.3.2", optional = true} smplx = { version = ">=0.1.28", optional = true} torch = { version = ">=1.13.1", optional = true} yourdfpy = { version = ">=0.0.53", optional = true} +matplotlib = { version = "^3.7.1", optional = true} [tool.poetry.extras] dev = ["pyright", "mypy", "ruff", "black"] -examples = ["smplx", "torch", "yourdfpy", "trimesh"] +examples = ["smplx", "torch", "yourdfpy", "trimesh", "matplotlib"] [tool.poetry.scripts] viser-dev-checks = "viser.scripts.dev_checks:entrypoint" @@ -52,7 +53,7 @@ ignore_missing_imports = true warn_unused_configs = true [tool.pyright] -exclude = ["./docs/**/*"] +exclude = ["./docs/**/*", "./examples/assets/**/*"] [tool.ruff] select = [ diff --git a/viser/__init__.py b/viser/__init__.py index 132d30fa0..7135818ed 100644 --- a/viser/__init__.py +++ b/viser/__init__.py @@ -1,11 +1,13 @@ -# `viser.infra` and `viser.transforms` should be imported explicitly. -# from . import infra as infra -# from . import transforms as transforms -from . import extras as extras from ._message_api import GuiButtonGroupHandle as GuiButtonGroupHandle from ._message_api import GuiButtonHandle as GuiButtonHandle from ._message_api import GuiDropdownHandle as GuiDropdownHandle from ._message_api import GuiHandle as GuiHandle +from ._scene_handle import CameraFrustumHandle as CameraFrustumHandle +from ._scene_handle import FrameHandle as FrameHandle +from ._scene_handle import ImageHandle as ImageHandle +from ._scene_handle import LabelHandle as LabelHandle +from ._scene_handle import MeshHandle as MeshHandle +from ._scene_handle import PointCloudHandle as PointCloudHandle from ._scene_handle import SceneNodeHandle as SceneNodeHandle from ._scene_handle import TransformControlsHandle as TransformControlsHandle from ._viser import CameraHandle as CameraHandle diff --git a/viser/_gui.py b/viser/_gui.py index 190383127..1867be57a 100644 --- a/viser/_gui.py +++ b/viser/_gui.py @@ -178,7 +178,7 @@ def remove(self) -> None: @dataclasses.dataclass class GuiHandle(_GuiHandle[T], Generic[T]): - """Handle for a particular GUI input in our visualizer. + """Handle for a general GUI inputs in our visualizer. Lets us get values, set values, and detect updates.""" diff --git a/viser/_message_api.py b/viser/_message_api.py index cb25b6f91..dd698f5aa 100644 --- a/viser/_message_api.py +++ b/viser/_message_api.py @@ -44,8 +44,15 @@ _GuiHandleState, ) from ._scene_handle import ( + CameraFrustumHandle, + FrameHandle, + ImageHandle, + LabelHandle, + MeshHandle, + PointCloudHandle, SceneNodeHandle, TransformControlsHandle, + _SupportsVisibility, _TransformControlsState, ) @@ -136,12 +143,17 @@ def __init__(self, handler: infra.MessageHandler) -> None: self._handle_from_transform_controls_name: Dict[ str, TransformControlsHandle ] = {} + self._handle_from_node_name: Dict[str, SceneNodeHandle] = {} handler.register_handler(_messages.GuiUpdateMessage, self._handle_gui_updates) handler.register_handler( _messages.TransformControlsUpdateMessage, self._handle_transform_controls_updates, ) + handler.register_handler( + _messages.SceneNodeClickedMessage, + self._handle_click_updates, + ) self._gui_folder_labels: List[str] = [] @@ -508,14 +520,14 @@ def add_camera_frustum( fov: float, aspect: float, scale: float = 0.3, - color: RgbTupleOrArray = (80, 120, 255), + color: RgbTupleOrArray = (20, 20, 20), image: Optional[onp.ndarray] = None, format: Literal["png", "jpeg"] = "jpeg", jpeg_quality: Optional[int] = None, wxyz: Tuple[float, float, float, float] | onp.ndarray = (1.0, 0.0, 0.0, 0.0), position: Tuple[float, float, float] | onp.ndarray = (0.0, 0.0, 0.0), visible: bool = True, - ) -> SceneNodeHandle: + ) -> CameraFrustumHandle: """Add a frustum to the scene. Useful for visualizing cameras. Like all cameras in the viser Python API, frustums follow the OpenCV [+Z forward, @@ -543,7 +555,7 @@ def add_camera_frustum( image_base64_data=base64_data, ) ) - return SceneNodeHandle._make(self, name, wxyz, position, visible) + return CameraFrustumHandle._make(self, name, wxyz, position, visible) def add_frame( self, @@ -554,7 +566,7 @@ def add_frame( wxyz: Tuple[float, float, float, float] | onp.ndarray = (1.0, 0.0, 0.0, 0.0), position: Tuple[float, float, float] | onp.ndarray = (0.0, 0.0, 0.0), visible: bool = True, - ) -> SceneNodeHandle: + ) -> FrameHandle: cast_vector(wxyz, length=4) cast_vector(position, length=3) self._queue( @@ -566,7 +578,7 @@ def add_frame( axes_radius=axes_radius, ) ) - return SceneNodeHandle._make(self, name, wxyz, position, visible) + return FrameHandle._make(self, name, wxyz, position, visible) def add_label( self, @@ -574,11 +586,10 @@ def add_label( text: str, wxyz: Tuple[float, float, float, float] | onp.ndarray = (1.0, 0.0, 0.0, 0.0), position: Tuple[float, float, float] | onp.ndarray = (0.0, 0.0, 0.0), - visible: bool = True, - ) -> SceneNodeHandle: + ) -> LabelHandle: """Add a 2D label to the scene.""" self._queue(_messages.LabelMessage(name, text)) - return SceneNodeHandle._make(self, name, wxyz, position, visible) + return LabelHandle._make(self, name, wxyz, position) def add_point_cloud( self, @@ -589,7 +600,7 @@ def add_point_cloud( wxyz: Tuple[float, float, float, float] | onp.ndarray = (1.0, 0.0, 0.0, 0.0), position: Tuple[float, float, float] | onp.ndarray = (0.0, 0.0, 0.0), visible: bool = True, - ) -> SceneNodeHandle: + ) -> PointCloudHandle: """Add a point cloud to the scene.""" self._queue( _messages.PointCloudMessage( @@ -599,9 +610,9 @@ def add_point_cloud( point_size=point_size, ) ) - return SceneNodeHandle._make(self, name, wxyz, position, visible) + return PointCloudHandle._make(self, name, wxyz, position, visible) - def add_mesh(self, *args, **kwargs) -> SceneNodeHandle: + def add_mesh(self, *args, **kwargs) -> MeshHandle: """Deprecated alias for `add_mesh_simple()`.""" return self.add_mesh_simple(*args, **kwargs) @@ -616,7 +627,7 @@ def add_mesh_simple( wxyz: Tuple[float, float, float, float] | onp.ndarray = (1.0, 0.0, 0.0, 0.0), position: Tuple[float, float, float] | onp.ndarray = (0.0, 0.0, 0.0), visible: bool = True, - ) -> SceneNodeHandle: + ) -> MeshHandle: """Add a mesh to the scene.""" self._queue( _messages.MeshMessage( @@ -630,7 +641,8 @@ def add_mesh_simple( side=side, ) ) - return SceneNodeHandle._make(self, name, wxyz, position, visible) + node_handle = MeshHandle._make(self, name, wxyz, position, visible) + return node_handle def add_mesh_trimesh( self, @@ -641,7 +653,7 @@ def add_mesh_trimesh( wxyz: Tuple[float, float, float, float] | onp.ndarray = (1.0, 0.0, 0.0, 0.0), position: Tuple[float, float, float] | onp.ndarray = (0.0, 0.0, 0.0), visible: bool = True, - ) -> SceneNodeHandle: + ) -> MeshHandle: """Add a trimesh mesh to the scene.""" if isinstance(mesh.visual, trimesh.visual.ColorVisuals): vertex_colors = mesh.visual.vertex_colors @@ -684,7 +696,7 @@ def add_mesh_trimesh( else: assert False, f"Unsupported texture visuals: {mesh.visual}" - return SceneNodeHandle._make(self, name, wxyz, position, visible) + return MeshHandle._make(self, name, wxyz, position, visible) def set_background_image( self, @@ -713,7 +725,7 @@ def add_image( wxyz: Tuple[float, float, float, float] | onp.ndarray = (1.0, 0.0, 0.0, 0.0), position: Tuple[float, float, float] | onp.ndarray = (0.0, 0.0, 0.0), visible: bool = True, - ) -> SceneNodeHandle: + ) -> ImageHandle: """Add a 2D image to the scene. Rendered in 3D.""" media_type, base64_data = _encode_image_base64( image, format, jpeg_quality=jpeg_quality @@ -727,7 +739,7 @@ def add_image( render_height=render_height, ) ) - return SceneNodeHandle._make(self, name, wxyz, position, visible) + return ImageHandle._make(self, name, wxyz, position, visible) def add_transform_controls( self, @@ -787,7 +799,7 @@ def sync_cb(client_id: ClientId, state: TransformControlsHandle) -> None: message_position.excluded_self_client = client_id self._queue(message_position) - node_handle = SceneNodeHandle._make(self, name, wxyz, position, visible) + node_handle = _SupportsVisibility._make(self, name, wxyz, position, visible) state_aux = _TransformControlsState( last_updated=time.time(), update_cb=[], @@ -850,6 +862,16 @@ def _handle_transform_controls_updates( if handle._impl_aux.sync_cb is not None: handle._impl_aux.sync_cb(client_id, handle) + def _handle_click_updates( + self, client_id: ClientId, message: _messages.SceneNodeClickedMessage + ) -> None: + """Callback for handling click messages.""" + handle = self._handle_from_node_name.get(message.name, None) + if handle is None or handle._impl.click_cb is None: + return + for cb in handle._impl.click_cb: + cb(handle) + def _add_gui_impl( self, name: str, diff --git a/viser/_messages.py b/viser/_messages.py index 15a5c775b..0b21a6079 100644 --- a/viser/_messages.py +++ b/viser/_messages.py @@ -243,6 +243,21 @@ class SetSceneNodeVisibilityMessage(Message): visible: bool +@dataclasses.dataclass +class SetSceneNodeClickableMessage(Message): + """Set the clickability of a particular node in the scene.""" + + name: str + clickable: bool + + +@dataclasses.dataclass +class SceneNodeClickedMessage(Message): + """Message for clicked objects.""" + + name: str + + @dataclasses.dataclass class ResetSceneMessage(Message): """Reset scene.""" diff --git a/viser/_scene_handle.py b/viser/_scene_handle.py index 8b9820f23..c396e326e 100644 --- a/viser/_scene_handle.py +++ b/viser/_scene_handle.py @@ -1,7 +1,12 @@ +# mypy: disable-error-code="assignment" +# +# Asymmetric properties are supported in Pyright, but not yet in mypy. +# - https://github.com/python/mypy/issues/3004 +# - https://github.com/python/mypy/pull/11643 from __future__ import annotations import dataclasses -from typing import TYPE_CHECKING, Callable, List, Optional, Tuple +from typing import TYPE_CHECKING, Callable, List, Optional, Tuple, Type, TypeVar import numpy as onp @@ -11,6 +16,10 @@ from ._message_api import ClientId, MessageApi +TSceneNodeHandle = TypeVar("TSceneNodeHandle", bound="SceneNodeHandle") +TSupportsVisibility = TypeVar("TSupportsVisibility", bound="_SupportsVisibility") + + @dataclasses.dataclass class _SceneNodeHandleState: name: str @@ -22,33 +31,29 @@ class _SceneNodeHandleState: default_factory=lambda: onp.array([0.0, 0.0, 0.0]) ) visible: bool = True + # TODO: we should remove SceneNodeHandle as an argument here. + click_cb: Optional[List[Callable[[SceneNodeHandle], None]]] = None @dataclasses.dataclass class SceneNodeHandle: - """Handle for interacting with scene nodes.""" + """Handle base class for interacting with scene nodes.""" _impl: _SceneNodeHandleState - @staticmethod + @classmethod def _make( + cls: Type[TSceneNodeHandle], api: MessageApi, name: str, wxyz: Tuple[float, float, float, float] | onp.ndarray, position: Tuple[float, float, float] | onp.ndarray, - visible: bool, - ) -> SceneNodeHandle: - out = SceneNodeHandle(_SceneNodeHandleState(name, api)) - - # Suppress mypy errors from asymmetric setters. These are fine in pyright. - # - https://github.com/python/mypy/issues/3004 - # - https://github.com/python/mypy/pull/11643 - # - # These will often be redundant, but are needed currently if the scene node - # already exists. We can think about how to make them less so in the future. - out.wxyz = wxyz # type: ignore - out.position = position # type: ignore - out.visible = visible + ) -> TSceneNodeHandle: + out = cls(_SceneNodeHandleState(name, api)) + api._handle_from_node_name[name] = out + + out.wxyz = wxyz + out.position = position return out @property @@ -85,6 +90,51 @@ def position(self, position: Tuple[float, float, float] | onp.ndarray) -> None: _messages.SetPositionMessage(self._impl.name, position_cast) ) + def remove(self) -> None: + """Remove the node from the scene.""" + self._impl.api._queue(_messages.RemoveSceneNodeMessage(self._impl.name)) + + +@dataclasses.dataclass +class _SupportsClick(SceneNodeHandle): + def on_click( + self: TSceneNodeHandle, func: Callable[[TSceneNodeHandle], None] + ) -> Callable[[TSceneNodeHandle], None]: + """Attach a callback for when a scene node is clicked. + + TODO: + - Slow for point clouds. + - Not supported for 2D labels. + """ + self._impl.api._queue( + _messages.SetSceneNodeClickableMessage(self._impl.name, True) + ) + if self._impl.click_cb is None: + self._impl.click_cb = [] + self._impl.click_cb.append(func) # type: ignore + return func + + +@dataclasses.dataclass +class _SupportsVisibility(SceneNodeHandle): + @classmethod + def _make( + cls: Type[TSupportsVisibility], + api: MessageApi, + name: str, + wxyz: Tuple[float, float, float, float] | onp.ndarray, + position: Tuple[float, float, float] | onp.ndarray, + visible: bool = True, + ) -> TSupportsVisibility: + out = cls(_SceneNodeHandleState(name, api)) + api._handle_from_node_name[name] = out + + out.wxyz = wxyz + out.position = position + out.visible = visible + + return out + @property def visible(self) -> bool: """Whether the scene node is visible or not. Synchronized to clients automatically when assigned.""" @@ -97,9 +147,35 @@ def visible(self, visible: bool) -> None: ) self._impl.visible = visible - def remove(self) -> None: - """Remove the node from the scene.""" - self._impl.api._queue(_messages.RemoveSceneNodeMessage(self._impl.name)) + +@dataclasses.dataclass +class CameraFrustumHandle(_SupportsClick, _SupportsVisibility): + """Handle for camera frustums.""" + + +@dataclasses.dataclass +class PointCloudHandle(_SupportsVisibility): + """Handle for point clouds. Does not support click events.""" + + +@dataclasses.dataclass +class FrameHandle(_SupportsClick, _SupportsVisibility): + """Handle for coordinate frames.""" + + +@dataclasses.dataclass +class MeshHandle(_SupportsClick, _SupportsVisibility): + """Handle for mesh objects.""" + + +@dataclasses.dataclass +class ImageHandle(_SupportsClick, _SupportsVisibility): + """Handle for 2D images, rendered in 3D.""" + + +@dataclasses.dataclass +class LabelHandle(SceneNodeHandle): + """Handle for 2D label objects. Does not support click events or visibility toggling.""" @dataclasses.dataclass @@ -110,7 +186,7 @@ class _TransformControlsState: @dataclasses.dataclass -class TransformControlsHandle(SceneNodeHandle): +class TransformControlsHandle(_SupportsClick, _SupportsVisibility): """Handle for interacting with transform control gizmos.""" _impl_aux: _TransformControlsState diff --git a/viser/_viser.py b/viser/_viser.py index 2ff533862..25edd4f7d 100644 --- a/viser/_viser.py +++ b/viser/_viser.py @@ -14,7 +14,7 @@ from . import _messages, infra from . import transforms as tf from ._message_api import MessageApi, cast_vector -from ._scene_handle import SceneNodeHandle, _SceneNodeHandleState +from ._scene_handle import FrameHandle, _SceneNodeHandleState @dataclasses.dataclass @@ -71,7 +71,11 @@ def wxyz(self, wxyz: Tuple[float, float, float, float] | onp.ndarray) -> None: @property def position(self) -> npt.NDArray[onp.float64]: """Corresponds to the t in `P_world = [R | t] p_camera`. Synchronized - automatically when assigned.""" + automatically when assigned. + + The `look_at` point and `up_direction` vectors are maintained when updating + `position`, which means that updates to `position` will often also affect `wxyz`. + """ assert self._state.update_timestamp != 0.0 return self._state.position @@ -210,7 +214,7 @@ class ViserServer(MessageApi): clients, including new clients that connect after a command is called. """ - world_axes: SceneNodeHandle + world_axes: FrameHandle """Handle for manipulating the world frame axes (/WorldAxes), which is instantiated and then hidden by default.""" @@ -302,7 +306,7 @@ def _(conn: infra.ClientConnection) -> None: # Start the server. server.start() self.reset_scene() - self.world_axes = SceneNodeHandle( + self.world_axes = FrameHandle( _SceneNodeHandleState( "/WorldAxes", self, diff --git a/viser/client/build/asset-manifest.json b/viser/client/build/asset-manifest.json index 4ded09d13..536bf2394 100644 --- a/viser/client/build/asset-manifest.json +++ b/viser/client/build/asset-manifest.json @@ -1,13 +1,13 @@ { "files": { "main.css": "/static/css/main.82973013.css", - "main.js": "/static/js/main.5dbd0923.js", + "main.js": "/static/js/main.cf7baeba.js", "index.html": "/index.html", "main.82973013.css.map": "/static/css/main.82973013.css.map", - "main.5dbd0923.js.map": "/static/js/main.5dbd0923.js.map" + "main.cf7baeba.js.map": "/static/js/main.cf7baeba.js.map" }, "entrypoints": [ "static/css/main.82973013.css", - "static/js/main.5dbd0923.js" + "static/js/main.cf7baeba.js" ] } \ No newline at end of file diff --git a/viser/client/build/index.html b/viser/client/build/index.html index 0f5be43a6..9918fb9c5 100644 --- a/viser/client/build/index.html +++ b/viser/client/build/index.html @@ -1 +1 @@ -Viser
\ No newline at end of file +Viser
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