Cleanup

docs/source/scene_handles.md

@@ -11,8 +11,8 @@ connected clients. When a scene node is added to a client (for example, via
 The most common attributes to read and write here are
 :attr:`viser.SceneNodeHandle.wxyz` and :attr:`viser.SceneNodeHandle.position`.
 Each node type also has type-specific attributes that we can read and write.
-Note that many of these are lower-level than their equivalent arguments in
-factory methods like :func:`viser.ViserServer.add_frame()` or
+Many of these are lower-level than their equivalent arguments in factory
+methods like :func:`viser.ViserServer.add_frame()` or
 :func:`viser.ViserServer.add_image()`.
 
 <!-- prettier-ignore-start -->

examples/11_colmap_visualizer.py

@@ -6,6 +6,7 @@
 import random
 import time
 from pathlib import Path
+from typing import List
 
 import imageio.v3 as iio
 import numpy as onp
@@ -67,26 +68,30 @@ def _(event: viser.GuiEvent) -> None:
         step=1,
         initial_value=min(len(images), 100),
     )
-    gui_point_size = server.gui.add_number("Point size", initial_value=0.05)
+    gui_point_size = server.gui.add_slider(
+        "Point size", min=0.01, max=0.1, step=0.001, initial_value=0.05
+    )
+
+    points = onp.array([points3d[p_id].xyz for p_id in points3d])
+    colors = onp.array([points3d[p_id].rgb for p_id in points3d])
+
+    point_mask = onp.random.choice(points.shape[0], gui_points.value, replace=False)
+    point_cloud = server.scene.add_point_cloud(
+        name="/colmap/pcd",
+        points=points[point_mask],
+        colors=colors[point_mask],
+        point_size=gui_point_size.value,
+    )
+    frames: List[viser.FrameHandle] = []
 
-    def visualize_colmap() -> None:
+    def visualize_frames() -> None:
         """Send all COLMAP elements to viser for visualization. This could be optimized
         a ton!"""
-        # Set the point cloud.
-        points = onp.array([points3d[p_id].xyz for p_id in points3d])
-        colors = onp.array([points3d[p_id].rgb for p_id in points3d])
-        points_selection = onp.random.choice(
-            points.shape[0], gui_points.value, replace=False
-        )
-        points = points[points_selection]
-        colors = colors[points_selection]
-
-        server.scene.add_point_cloud(
-            name="/colmap/pcd",
-            points=points,
-            colors=colors,
-            point_size=gui_point_size.value,
-        )
+
+        # Remove existing image frames.
+        for frame in frames:
+            frame.remove()
+        frames.clear()
 
         # Interpret the images and cameras.
         img_ids = [im.id for im in images.values()]
@@ -121,6 +126,7 @@ def _(_) -> None:
                 axes_length=0.1,
                 axes_radius=0.005,
             )
+            frames.append(frame)
 
             # For pinhole cameras, cam.params will be (fx, fy, cx, cy).
             if cam.model != "PINHOLE":
@@ -143,8 +149,9 @@ def _(_) -> None:
 
     @gui_points.on_update
     def _(_) -> None:
-        nonlocal need_update
-        need_update = True
+        point_mask = onp.random.choice(points.shape[0], gui_points.value, replace=False)
+        point_cloud.points = points[point_mask]
+        point_cloud.colors = colors[point_mask]
 
     @gui_frames.on_update
     def _(_) -> None:
@@ -153,15 +160,12 @@ def _(_) -> None:
 
     @gui_point_size.on_update
     def _(_) -> None:
-        nonlocal need_update
-        need_update = True
+        point_cloud.point_size = gui_point_size.value
 
     while True:
         if need_update:
             need_update = False
-
-            server.scene.reset()
-            visualize_colmap()
+            visualize_frames()
 
         time.sleep(1e-3)
 

src/viser/_messages.py

@@ -174,8 +174,8 @@ class CameraFrustumProps:
     """Aspect ratio of the camera (width over height). For handles, synchronized automatically when assigned."""
     scale: float
     """Scale factor for the size of the frustum. For handles, synchronized automatically when assigned."""
-    color: int
-    """Color of the frustum as an RGB integer. For handles, synchronized automatically when assigned."""
+    color: Tuple[int, int, int]
+    """Color of the frustum as RGB integers. For handles, synchronized automatically when assigned."""
     image_media_type: Optional[Literal["image/jpeg", "image/png"]]
     """Format of the provided image ('image/jpeg' or 'image/png'). For handles, synchronized automatically when assigned."""
     image_binary: Optional[bytes]
@@ -261,14 +261,14 @@ class GridProps:
     """Number of segments along the height. For handles, synchronized automatically when assigned."""
     plane: Literal["xz", "xy", "yx", "yz", "zx", "zy"]
     """The plane in which the grid is oriented. For handles, synchronized automatically when assigned."""
-    cell_color: int
-    """Color of the grid cells as an RGB integer. For handles, synchronized automatically when assigned."""
+    cell_color: Tuple[int, int, int]
+    """Color of the grid cells as RGB integers. For handles, synchronized automatically when assigned."""
     cell_thickness: float
     """Thickness of the grid lines. For handles, synchronized automatically when assigned."""
     cell_size: float
     """Size of each cell in the grid. For handles, synchronized automatically when assigned."""
-    section_color: int
-    """Color of the grid sections as an RGB integer. For handles, synchronized automatically when assigned."""
+    section_color: Tuple[int, int, int]
+    """Color of the grid sections as RGB integers. For handles, synchronized automatically when assigned."""
     section_thickness: float
     """Thickness of the section lines. For handles, synchronized automatically when assigned."""
     section_size: float
@@ -355,8 +355,8 @@ class MeshProps:
     """A numpy array of vertex positions. Should have shape (V, 3). For handles, synchronized automatically when assigned."""
     faces: onpt.NDArray[onp.uint32]
     """A numpy array of faces, where each face is represented by indices of vertices. Should have shape (F, 3). For handles, synchronized automatically when assigned."""
-    color: Optional[int]
-    """Color of the mesh as an RGB integer. For handles, synchronized automatically when assigned."""
+    color: Optional[Tuple[int, int, int]]
+    """Color of the mesh as RGB integers. For handles, synchronized automatically when assigned."""
     vertex_colors: Optional[onpt.NDArray[onp.uint8]]
     """Optional array of vertex colors. For handles, synchronized automatically when assigned."""
     wireframe: bool
@@ -871,8 +871,8 @@ class CatmullRomSplineProps:
     """Boolean indicating if the spline is closed (forms a loop). For handles, synchronized automatically when assigned."""
     line_width: float
     """Width of the spline line. For handles, synchronized automatically when assigned."""
-    color: int
-    """Color of the spline as an RGB integer. For handles, synchronized automatically when assigned."""
+    color: Tuple[int, int, int]
+    """Color of the spline as RGB integers. For handles, synchronized automatically when assigned."""
     segments: Optional[int]
     """Number of segments to divide the spline into. For handles, synchronized automatically when assigned."""
 
@@ -893,8 +893,8 @@ class CubicBezierSplineProps:
     """A tuple of control points for Bezier curve shaping. For handles, synchronized automatically when assigned."""
     line_width: float
     """Width of the spline line. For handles, synchronized automatically when assigned."""
-    color: int
-    """Color of the spline as an RGB integer. For handles, synchronized automatically when assigned."""
+    color: Tuple[int, int, int]
+    """Color of the spline as RGB integers. For handles, synchronized automatically when assigned."""
     segments: Optional[int]
     """Number of segments to divide the spline into. For handles, synchronized automatically when assigned."""
 

src/viser/_scene_api.py

@@ -8,7 +8,6 @@
 
 import imageio.v3 as iio
 import numpy as onp
-import numpy.typing as onpt
 from typing_extensions import Literal, ParamSpec, TypeAlias, assert_never
 
 from . import _messages
@@ -32,6 +31,7 @@
     ScenePointerEvent,
     TransformControlsHandle,
     _TransformControlsState,
+    colors_to_uint8,
 )
 
 if TYPE_CHECKING:
@@ -44,31 +44,20 @@
 P = ParamSpec("P")
 
 
-def _colors_to_uint8(colors: onp.ndarray) -> onpt.NDArray[onp.uint8]:
-    """Convert intensity values to uint8. We assume the range [0,1] for floats, and
-    [0,255] for integers. Accepts any shape."""
-    if colors.dtype != onp.uint8:
-        if onp.issubdtype(colors.dtype, onp.floating):
-            colors = onp.clip(colors * 255.0, 0, 255).astype(onp.uint8)
-        if onp.issubdtype(colors.dtype, onp.integer):
-            colors = onp.clip(colors, 0, 255).astype(onp.uint8)
-    return colors
-
-
 RgbTupleOrArray: TypeAlias = Union[
     Tuple[int, int, int], Tuple[float, float, float], onp.ndarray
 ]
 
 
-def _encode_rgb(rgb: RgbTupleOrArray) -> int:
+def _encode_rgb(rgb: RgbTupleOrArray) -> tuple[int, int, int]:
     if isinstance(rgb, onp.ndarray):
         assert rgb.shape == (3,)
     rgb_fixed = tuple(
-        value if onp.issubdtype(type(value), onp.integer) else int(value * 255)
+        int(value) if onp.issubdtype(type(value), onp.integer) else int(value * 255)
         for value in rgb
     )
     assert len(rgb_fixed) == 3
-    return int(rgb_fixed[0] * (256**2) + rgb_fixed[1] * 256 + rgb_fixed[2])
+    return rgb_fixed  # type: ignore
 
 
 def _encode_image_binary(
@@ -77,7 +66,7 @@ def _encode_image_binary(
     jpeg_quality: int | None = None,
 ) -> tuple[Literal["image/png", "image/jpeg"], bytes]:
     media_type: Literal["image/png", "image/jpeg"]
-    image = _colors_to_uint8(image)
+    image = colors_to_uint8(image)
     with io.BytesIO() as data_buffer:
         if format == "png":
             media_type = "image/png"
@@ -673,7 +662,7 @@ def add_point_cloud(
         Returns:
             Handle for manipulating scene node.
         """
-        colors_cast = _colors_to_uint8(onp.asarray(colors))
+        colors_cast = colors_to_uint8(onp.asarray(colors))
         assert (
             len(points.shape) == 2 and points.shape[-1] == 3
         ), "Shape of points should be (N, 3)."
@@ -975,8 +964,8 @@ def _add_gaussian_splats(
                 # - xyz (96 bits): upper-triangular Cholesky factor of covariance.
                 cov_cholesky_triu.astype(onp.float16).copy().view(onp.uint8),
                 # - w (32 bits): rgba.
-                _colors_to_uint8(rgbs),
-                _colors_to_uint8(opacities),
+                colors_to_uint8(rgbs),
+                colors_to_uint8(opacities),
             ],
             axis=-1,
         ).view(onp.uint32)

src/viser/_scene_handles.py

@@ -7,6 +7,7 @@
     Any,
     Callable,
     ClassVar,
+    Dict,
     Generic,
     Literal,
     Protocol,
@@ -15,6 +16,8 @@
 )
 
 import numpy as onp
+import numpy.typing as onpt
+from typing_extensions import get_type_hints
 
 from . import _messages
 from .infra._infra import WebsockClientConnection, WebsockServer
@@ -26,21 +29,39 @@
     from .infra import ClientId
 
 
+def colors_to_uint8(colors: onp.ndarray) -> onpt.NDArray[onp.uint8]:
+    """Convert intensity values to uint8. We assume the range [0,1] for floats, and
+    [0,255] for integers. Accepts any shape."""
+    if colors.dtype != onp.uint8:
+        if onp.issubdtype(colors.dtype, onp.floating):
+            colors = onp.clip(colors * 255.0, 0, 255).astype(onp.uint8)
+        if onp.issubdtype(colors.dtype, onp.integer):
+            colors = onp.clip(colors, 0, 255).astype(onp.uint8)
+    return colors
+
+
 class _OverridablePropApi:
     """Mixin that allows reading/assigning properties defined in each scene node message."""
 
-    _PropClass: ClassVar[type]
+    _PropHints: ClassVar[Dict[str, type]]
 
     def __init__(self) -> None:
         assert False
 
     def __init_subclass__(cls, PropClass: type):
-        cls._PropClass = PropClass
+        cls._PropHints = get_type_hints(PropClass)
 
     def __setattr__(self, name: str, value: Any) -> None:
         handle = cast(SceneNodeHandle, self)
         # Get the value of the T TypeVar.
-        if name in self._PropClass.__annotations__:
+        if name in self._PropHints:
+            # Help the user with some casting...
+            hint = self._PropHints[name]
+            if hint == onpt.NDArray[onp.float32]:
+                value = value.astype(onp.float32)
+            elif hint == onpt.NDArray[onp.uint8] and "color" in name:
+                value = colors_to_uint8(value)
+
             setattr(handle._impl.props, name, value)
             handle._impl.api._websock_interface.queue_message(
                 _messages.SceneNodeUpdateMessage(handle.name, {name: value})
@@ -49,7 +70,7 @@ def __setattr__(self, name: str, value: Any) -> None:
             return object.__setattr__(self, name, value)
 
     def __getattr__(self, name: str) -> Any:
-        if name in self._PropClass.__annotations__:
+        if name in self._PropClass:
             return getattr(self._impl.props, name)
         else:
             raise AttributeError(

src/viser/client/src/SceneTree.tsx

@@ -38,6 +38,10 @@ import GeneratedGuiContainer from "./ControlPanel/Generated";
 /** Type corresponding to a zustand-style useSceneTree hook. */
 export type UseSceneTree = ReturnType<typeof useSceneTreeState>;
 
+function rgbToInt(rgb: [number, number, number]): number {
+  return (rgb[0] << 16) | (rgb[1] << 8) | rgb[2];
+}
+
 function SceneNodeThreeChildren(props: {
   name: string;
   parent: THREE.Object3D;
@@ -197,10 +201,10 @@ function useObjectFactory(message: SceneNodeMessage | undefined): {
                 message.props.height_segments,
               ]}
               side={THREE.DoubleSide}
-              cellColor={message.props.cell_color}
+              cellColor={rgbToInt(message.props.cell_color)}
               cellThickness={message.props.cell_thickness}
               cellSize={message.props.cell_size}
-              sectionColor={message.props.section_color}
+              sectionColor={rgbToInt(message.props.section_color)}
               sectionThickness={message.props.section_thickness}
               sectionSize={message.props.section_size}
               rotation={
@@ -274,7 +278,7 @@ function useObjectFactory(message: SceneNodeMessage | undefined): {
             fov={message.props.fov}
             aspect={message.props.aspect}
             scale={message.props.scale}
-            color={message.props.color}
+            color={rgbToInt(message.props.color)}
             imageBinary={message.props.image_binary}
             imageMediaType={message.props.image_media_type}
           />
@@ -425,7 +429,7 @@ function useObjectFactory(message: SceneNodeMessage | undefined): {
                 curveType={message.props.curve_type}
                 tension={message.props.tension}
                 lineWidth={message.props.line_width}
-                color={message.props.color}
+                color={rgbToInt(message.props.color)}
                 // Sketchy cast needed due to https://github.com/pmndrs/drei/issues/1476.
                 segments={(message.props.segments ?? undefined) as undefined}
               />
@@ -446,7 +450,7 @@ function useObjectFactory(message: SceneNodeMessage | undefined): {
                 midA={message.props.control_points[2 * i]}
                 midB={message.props.control_points[2 * i + 1]}
                 lineWidth={message.props.line_width}
-                color={message.props.color}
+                color={rgbToInt(message.props.color)}
                 // Sketchy cast needed due to https://github.com/pmndrs/drei/issues/1476.
                 segments={(message.props.segments ?? undefined) as undefined}
               ></CubicBezierLine>