Update docs, improve type checking, hotfix recursion edge case

docs/source/examples/09_urdf_visualizer.rst

@@ -27,8 +27,9 @@ and viser. It can also take a path to a local URDF file as input.
 
         import numpy as onp
         import tyro
-        import viser
         from robot_descriptions.loaders.yourdfpy import load_robot_description
+
+        import viser
         from viser.extras import ViserUrdf
 
 

docs/source/examples/11_colmap_visualizer.rst

@@ -16,6 +16,7 @@ Visualize COLMAP sparse reconstruction outputs. To get demo data, see ``./assets
         import random
         import time
         from pathlib import Path
+        from typing import List
 
         import imageio.v3 as iio
         import numpy as onp
@@ -77,26 +78,30 @@ Visualize COLMAP sparse reconstruction outputs. To get demo data, see ``./assets
                 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()]
@@ -131,6 +136,7 @@ Visualize COLMAP sparse reconstruction outputs. To get demo data, see ``./assets
                         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":
@@ -153,8 +159,9 @@ Visualize COLMAP sparse reconstruction outputs. To get demo data, see ``./assets
 
             @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:
@@ -163,15 +170,12 @@ Visualize COLMAP sparse reconstruction outputs. To get demo data, see ``./assets
 
             @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)
 

docs/source/examples/25_smpl_visualizer_skinned.rst

@@ -180,6 +180,9 @@ See here for download instructions:
                 gui_rgb = server.gui.add_rgb("Color", initial_value=(90, 200, 255))
                 gui_wireframe = server.gui.add_checkbox("Wireframe", initial_value=False)
                 gui_show_controls = server.gui.add_checkbox("Handles", initial_value=True)
+                gui_control_size = server.gui.add_slider(
+                    "Handle size", min=0.0, max=10.0, step=0.01, initial_value=1.0
+                )
 
                 gui_rgb.on_update(set_changed)
                 gui_wireframe.on_update(set_changed)
@@ -189,6 +192,16 @@ See here for download instructions:
                     for control in transform_controls:
                         control.visible = gui_show_controls.value
 
+                @gui_control_size.on_update
+                def _(_):
+                    for control in transform_controls:
+                        prefixed_joint_name = control.name
+                        control.scale = (
+                            0.2
+                            * (0.75 ** prefixed_joint_name.count("/"))
+                            * gui_control_size.value
+                        )
+
             # GUI elements: shape parameters.
             with tab_group.add_tab("Shape", viser.Icon.BOX):
                 gui_reset_shape = server.gui.add_button("Reset Shape")

src/viser/_scene_handles.py

@@ -40,17 +40,7 @@ def colors_to_uint8(colors: onp.ndarray) -> onpt.NDArray[onp.uint8]:
     return colors
 
 
-class _OverridablePropApi:
-    """Mixin that allows reading/assigning properties defined in each scene node message."""
-
-    _PropHints: ClassVar[Dict[str, type]]
-
-    def __init__(self) -> None:
-        assert False
-
-    def __init_subclass__(cls, PropClass: type):
-        cls._PropHints = get_type_hints(PropClass)
-
+class _OverridablePropSettersAndGetters:
     def __setattr__(self, name: str, value: Any) -> None:
         handle = cast(SceneNodeHandle, self)
         # Get the value of the T TypeVar.
@@ -70,14 +60,28 @@ 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:
+        if name in self._PropHints:
             return getattr(self._impl.props, name)
         else:
             raise AttributeError(
                 f"'{self.__class__.__name__}' object has no attribute '{name}'"
             )
 
 
+class _OverridablePropApi(
+    _OverridablePropSettersAndGetters if not TYPE_CHECKING else object
+):
+    """Mixin that allows reading/assigning properties defined in each scene node message."""
+
+    _PropHints: ClassVar[Dict[str, type]]
+
+    def __init__(self) -> None:
+        assert False
+
+    def __init_subclass__(cls, PropClass: type):
+        cls._PropHints = get_type_hints(PropClass)
+
+
 @dataclasses.dataclass(frozen=True)
 class ScenePointerEvent:
     """Event passed to pointer callbacks for the scene (currently only clicks)."""