Merge branch 'main' into gina/notification

.gitignore

@@ -14,5 +14,6 @@ htmlcov
 .DS_Store
 .envrc
 .vite
+build
 src/viser/client/build
 src/viser/client/.nodeenv

docs/source/conventions.md

@@ -41,8 +41,7 @@ where `wxyz` is the quaternion form of the :math:`\mathrm{SO}(3)` matrix
 ## World coordinates
 
 In the world coordinate space, +Z points upward by default. This can be
-overridden with :func:`viser.ViserServer.set_up_direction()` or
-:func:`viser.ClientHandle.set_up_direction()`.
+overridden with :func:`viser.SceneApi.set_up_direction()`.
 
 ## Cameras
 

docs/source/examples/02_gui.rst

@@ -29,7 +29,6 @@ Examples of basic GUI elements that we can create, read from, and write to.
                     initial_value=0,
                     disabled=True,
                 )
-
                 gui_slider = server.gui.add_slider(
                     "Slider",
                     min=0,
@@ -38,6 +37,7 @@ Examples of basic GUI elements that we can create, read from, and write to.
                     initial_value=0,
                     disabled=True,
                 )
+                gui_progress = server.gui.add_progress_bar(25, animated=True)
 
             with server.gui.add_folder("Editable"):
                 gui_vector2 = server.gui.add_vector2(
@@ -119,6 +119,8 @@ Examples of basic GUI elements that we can create, read from, and write to.
                     point_shape="circle",
                 )
 
+                gui_progress.value = float((counter % 100))
+
                 # We can use `.visible` and `.disabled` to toggle GUI elements.
                 gui_text.visible = not gui_checkbox_hide.value
                 gui_button.visible = not gui_checkbox_hide.value

docs/source/examples/23_smpl_visualizer_skinned.rst

@@ -139,8 +139,6 @@ See here for download instructions:
                 # Match transform control gizmos to joint positions.
                 for i, control in enumerate(gui_elements.transform_controls):
                     control.position = smpl_outputs.T_parent_joint[i, :3, 3]
-                    print(control.position)
-
                     skinned_handle.bones[i].wxyz = tf.SO3.from_matrix(
                         smpl_outputs.T_world_joint[i, :3, :3]
                     ).wxyz

docs/source/index.md

@@ -29,8 +29,6 @@ pip install viser[examples]
 After an example script is running, you can connect by navigating to the printed
 URL (default: `http://localhost:8080`).
 
-See also: our [development docs](https://viser.studio/development/).
-
 <!-- prettier-ignore-start -->
 
 .. toctree::

examples/02_gui.py

@@ -18,7 +18,6 @@ def main() -> None:
             initial_value=0,
             disabled=True,
         )
-
         gui_slider = server.gui.add_slider(
             "Slider",
             min=0,
@@ -27,6 +26,7 @@ def main() -> None:
             initial_value=0,
             disabled=True,
         )
+        gui_progress = server.gui.add_progress_bar(25, animated=True)
 
     with server.gui.add_folder("Editable"):
         gui_vector2 = server.gui.add_vector2(
@@ -108,6 +108,8 @@ def _(_) -> None:
             point_shape="circle",
         )
 
+        gui_progress.value = float((counter % 100))
+
         # We can use `.visible` and `.disabled` to toggle GUI elements.
         gui_text.visible = not gui_checkbox_hide.value
         gui_button.visible = not gui_checkbox_hide.value

examples/20_scene_pointer.py

@@ -71,7 +71,7 @@ def _(event: viser.ScenePointerEvent) -> None:
             client.scene.remove_pointer_callback()
 
             # Get the first hit position (based on distance from the ray origin).
-            hit_pos = min(hit_pos, key=lambda x: onp.linalg.norm(x - origin))
+            hit_pos = hit_pos[onp.argmin(onp.sum((hit_pos - origin) ** 2, axis=-1))]
 
             # Create a sphere at the hit location.
             hit_pos_mesh = trimesh.creation.icosphere(radius=0.1)

examples/23_smpl_visualizer_skinned.py

@@ -134,8 +134,6 @@ def main(model_path: Path) -> None:
         # Match transform control gizmos to joint positions.
         for i, control in enumerate(gui_elements.transform_controls):
             control.position = smpl_outputs.T_parent_joint[i, :3, 3]
-            print(control.position)
-
             skinned_handle.bones[i].wxyz = tf.SO3.from_matrix(
                 smpl_outputs.T_world_joint[i, :3, :3]
             ).wxyz

examples/assets/mdx_example.mdx

@@ -16,7 +16,7 @@ In inline code blocks, you can show off colors with color chips: `#FED363`
 
 Adding images from a remote origin is simple.
 
-![Viser Logo](http://nerfstudio-project.github.io/viser/_static/viser.svg)
+![Viser Logo](https://viser.studio/latest/_static/logo.svg)
 
 For local images with relative paths, you can either directly use a
 [data URL](https://developer.mozilla.org/en-US/docs/Web/HTTP/Basics_of_HTTP/Data_URLs)
@@ -30,7 +30,7 @@ Tables follow the standard markdown spec:
 
 | Application                                          | Description                                        |
 | ---------------------------------------------------- | -------------------------------------------------- |
-| [Nerfstudio](https://nerf.studio)                    | A collaboration friendly studio for NeRFs          |
+| [NS](https://nerf.studio)                            | A collaboration friendly studio for NeRFs          |
 | [Viser](https://nerfstudio-project.github.io/viser/) | An interactive 3D visualization toolbox for Python |
 
 Code blocks, while being not nearly as exciting as some of the things presented,
@@ -90,5 +90,3 @@ So that's MDX in Viser. It has support for:
     blocks, inline code
 - [x] Color chips
 - [x] JSX enhanced components
-- [ ] Prism highlighted code blocks and code block tabs
-- [ ] Exposed Mantine in markdown

examples/experimental/gaussian_splats.py

@@ -29,6 +29,7 @@ class SplatFile(TypedDict):
 
 def load_splat_file(splat_path: Path, center: bool = False) -> SplatFile:
     """Load an antimatter15-style splat file."""
+    start_time = time.time()
     splat_buffer = splat_path.read_bytes()
     bytes_per_gaussian = (
         # Each Gaussian is serialized as:
@@ -43,22 +44,23 @@ def load_splat_file(splat_path: Path, center: bool = False) -> SplatFile:
     )
     assert len(splat_buffer) % bytes_per_gaussian == 0
     num_gaussians = len(splat_buffer) // bytes_per_gaussian
-    print("Number of gaussians to render: ", f"{num_gaussians=}")
 
     # Reinterpret cast to dtypes that we want to extract.
     splat_uint8 = onp.frombuffer(splat_buffer, dtype=onp.uint8).reshape(
         (num_gaussians, bytes_per_gaussian)
     )
     scales = splat_uint8[:, 12:24].copy().view(onp.float32)
     wxyzs = splat_uint8[:, 28:32] / 255.0 * 2.0 - 1.0
-    Rs = onp.array([tf.SO3(wxyz).as_matrix() for wxyz in wxyzs])
+    Rs = tf.SO3(wxyzs).as_matrix()
     covariances = onp.einsum(
         "nij,njk,nlk->nil", Rs, onp.eye(3)[None, :, :] * scales[:, None, :] ** 2, Rs
     )
     centers = splat_uint8[:, 0:12].copy().view(onp.float32)
     if center:
         centers -= onp.mean(centers, axis=0, keepdims=True)
-    print("Splat file loaded")
+    print(
+        f"Splat file with {num_gaussians=} loaded in {time.time() - start_time} seconds"
+    )
     return {
         "centers": centers,
         # Colors should have shape (N, 3).
@@ -70,64 +72,40 @@ def load_splat_file(splat_path: Path, center: bool = False) -> SplatFile:
 
 
 def load_ply_file(ply_file_path: Path, center: bool = False) -> SplatFile:
-    plydata = PlyData.read(ply_file_path)
-    vert = plydata["vertex"]
-    sorted_indices = onp.argsort(
-        -onp.exp(vert["scale_0"] + vert["scale_1"] + vert["scale_2"])
-        / (1 + onp.exp(-vert["opacity"]))
-    )
-    numgaussians = len(vert)
-    print("Number of gaussians to render: ", numgaussians)
-    colors = onp.zeros((numgaussians, 3))
-    opacities = onp.zeros((numgaussians, 1))
-    positions = onp.zeros((numgaussians, 3))
-    wxyzs = onp.zeros((numgaussians, 4))
-    scales = onp.zeros((numgaussians, 3))
-    for idx in sorted_indices:
-        v = plydata["vertex"][idx]
-        position = onp.array([v["x"], v["y"], v["z"]], dtype=onp.float32)
-        scale = onp.exp(
-            onp.array([v["scale_0"], v["scale_1"], v["scale_2"]], dtype=onp.float32)
-        )
+    """Load Gaussians stored in a PLY file."""
+    start_time = time.time()
 
-        rot = onp.array(
-            [v["rot_0"], v["rot_1"], v["rot_2"], v["rot_3"]], dtype=onp.float32
-        )
-        SH_C0 = 0.28209479177387814
-        color = onp.array(
-            [
-                0.5 + SH_C0 * v["f_dc_0"],
-                0.5 + SH_C0 * v["f_dc_1"],
-                0.5 + SH_C0 * v["f_dc_2"],
-            ]
-        )
-        opacity = 1 / (1 + onp.exp(-v["opacity"]))
-        wxyz = rot / onp.linalg.norm(rot)  # normalize
-        scales[idx] = scale
-        colors[idx] = color
-        opacities[idx] = onp.array([opacity])
-        positions[idx] = position
-        wxyzs[idx] = wxyz
-
-    Rs = onp.array([tf.SO3(wxyz).as_matrix() for wxyz in wxyzs])
+    SH_C0 = 0.28209479177387814
+
+    plydata = PlyData.read(ply_file_path)
+    v = plydata["vertex"]
+    positions = onp.stack([v["x"], v["y"], v["z"]], axis=-1)
+    scales = onp.exp(onp.stack([v["scale_0"], v["scale_1"], v["scale_2"]], axis=-1))
+    wxyzs = onp.stack([v["rot_0"], v["rot_1"], v["rot_2"], v["rot_3"]], axis=1)
+    colors = 0.5 + SH_C0 * onp.stack([v["f_dc_0"], v["f_dc_1"], v["f_dc_2"]], axis=1)
+    opacities = 1.0 / (1.0 + onp.exp(-v["opacity"][:, None]))
+
+    Rs = tf.SO3(wxyzs).as_matrix()
     covariances = onp.einsum(
         "nij,njk,nlk->nil", Rs, onp.eye(3)[None, :, :] * scales[:, None, :] ** 2, Rs
     )
     if center:
         positions -= onp.mean(positions, axis=0, keepdims=True)
-    print("PLY file loaded")
+
+    num_gaussians = len(v)
+    print(
+        f"PLY file with {num_gaussians=} loaded in {time.time() - start_time} seconds"
+    )
     return {
         "centers": positions,
-        # Colors should have shape (N, 3).
         "rgbs": colors,
         "opacities": opacities,
-        # Covariances should have shape (N, 3, 3).
         "covariances": covariances,
     }
 
 
-def main(splat_paths: tuple[Path, ...], test_multisplat: bool = False) -> None:
-    server = viser.ViserServer(share=True)
+def main(splat_paths: tuple[Path, ...]) -> None:
+    server = viser.ViserServer()
     server.gui.configure_theme(dark_mode=True)
     gui_reset_up = server.gui.add_button(
         "Reset up direction",
@@ -151,14 +129,21 @@ def _(event: viser.GuiEvent) -> None:
             raise SystemExit("Please provide a filepath to a .splat or .ply file.")
 
         server.scene.add_transform_controls(f"/{i}")
-        server.scene._add_gaussian_splats(
+        gs_handle = server.scene._add_gaussian_splats(
             f"/{i}/gaussian_splats",
             centers=splat_data["centers"],
             rgbs=splat_data["rgbs"],
             opacities=splat_data["opacities"],
             covariances=splat_data["covariances"],
         )
 
+        remove_button = server.gui.add_button(f"Remove splat object {i}")
+
+        @remove_button.on_click
+        def _(_, gs_handle=gs_handle, remove_button=remove_button) -> None:
+            gs_handle.remove()
+            remove_button.remove()
+
     while True:
         time.sleep(10.0)
 

pyproject.toml

@@ -22,7 +22,7 @@ classifiers = [
 dependencies = [
     "websockets>=10.4",
     "numpy>=1.0.0",
-    "msgpack>=1.0.7",
+    "msgspec>=0.18.6",
     "imageio>=2.0.0",
     "pyliblzfse>=0.4.1; platform_system!='Windows'",
     "scikit-image>=0.18.0",
@@ -71,6 +71,13 @@ examples = [
 viser = ["py.typed", "*.pyi", "_icons/tabler-icons.tar", "client/**/*", "client/**/.*"]
 # </>
 
+[tool.setuptools.exclude-package-data]
+# We exclude node_modules to prevent long build times for wheels when
+# installing from source, eg via `pip install .`.
+#
+# https://github.com/nerfstudio-project/viser/issues/271
+viser = ["**/node_modules/**"]
+
 [project.scripts]
 viser-dev-checks = "viser.scripts.dev_checks:entrypoint"