0.2.9

docs/source/examples/07_record3d_visualizer.rst

@@ -18,11 +18,10 @@ Parse and stream record3d captures. To get the demo data, see ``./assets/downloa
 
         import numpy as np
         import tyro
-        from tqdm.auto import tqdm
-
         import viser
         import viser.extras
         import viser.transforms as tf
+        from tqdm.auto import tqdm
 
 
         def main(
@@ -41,6 +40,13 @@ Parse and stream record3d captures. To get the demo data, see ``./assets/downloa
 
             # Add playback UI.
             with server.gui.add_folder("Playback"):
+                gui_point_size = server.gui.add_slider(
+                    "Point size",
+                    min=0.001,
+                    max=0.02,
+                    step=1e-3,
+                    initial_value=0.01,
+                )
                 gui_timestep = server.gui.add_slider(
                     "Timestep",
                     min=0,
@@ -88,6 +94,10 @@ Parse and stream record3d captures. To get the demo data, see ``./assets/downloa
                 nonlocal prev_timestep
                 current_timestep = gui_timestep.value
                 with server.atomic():
+                    # Update point size.
+                    point_nodes[current_timestep].point_size = gui_point_size.value
+
+                    # Toggle visibility.
                     frame_nodes[current_timestep].visible = True
                     frame_nodes[prev_timestep].visible = False
                 prev_timestep = current_timestep
@@ -101,6 +111,7 @@ Parse and stream record3d captures. To get the demo data, see ``./assets/downloa
                 show_axes=False,
             )
             frame_nodes: list[viser.FrameHandle] = []
+            point_nodes: list[viser.PointCloudHandle] = []
             for i in tqdm(range(num_frames)):
                 frame = loader.get_frame(i)
                 position, color = frame.get_point_cloud(downsample_factor)
@@ -109,12 +120,14 @@ Parse and stream record3d captures. To get the demo data, see ``./assets/downloa
                 frame_nodes.append(server.scene.add_frame(f"/frames/t{i}", show_axes=False))
 
                 # Place the point cloud in the frame.
-                server.scene.add_point_cloud(
-                    name=f"/frames/t{i}/point_cloud",
-                    points=position,
-                    colors=color,
-                    point_size=0.01,
-                    point_shape="rounded",
+                point_nodes.append(
+                    server.scene.add_point_cloud(
+                        name=f"/frames/t{i}/point_cloud",
+                        points=position,
+                        colors=color,
+                        point_size=gui_point_size.value,
+                        point_shape="rounded",
+                    )
                 )
 
                 # Place the frustum.

docs/source/examples/08_smpl_visualizer.rst

@@ -44,21 +44,21 @@ See here for download instructions:
                 assert model_path.suffix.lower() == ".npz", "Model should be an .npz file!"
                 body_dict = dict(**np.load(model_path, allow_pickle=True))
 
-                self._J_regressor = body_dict["J_regressor"]
-                self._weights = body_dict["weights"]
-                self._v_template = body_dict["v_template"]
-                self._posedirs = body_dict["posedirs"]
-                self._shapedirs = body_dict["shapedirs"]
-                self._faces = body_dict["f"]
-
-                self.num_joints: int = self._weights.shape[-1]
-                self.num_betas: int = self._shapedirs.shape[-1]
+                self.J_regressor = body_dict["J_regressor"]
+                self.weights = body_dict["weights"]
+                self.v_template = body_dict["v_template"]
+                self.posedirs = body_dict["posedirs"]
+                self.shapedirs = body_dict["shapedirs"]
+                self.faces = body_dict["f"]
+
+                self.num_joints: int = self.weights.shape[-1]
+                self.num_betas: int = self.shapedirs.shape[-1]
                 self.parent_idx: np.ndarray = body_dict["kintree_table"][0]
 
             def get_outputs(self, betas: np.ndarray, joint_rotmats: np.ndarray) -> SmplOutputs:
                 # Get shaped vertices + joint positions, when all local poses are identity.
-                v_tpose = self._v_template + np.einsum("vxb,b->vx", self._shapedirs, betas)
-                j_tpose = np.einsum("jv,vx->jx", self._J_regressor, v_tpose)
+                v_tpose = self.v_template + np.einsum("vxb,b->vx", self.shapedirs, betas)
+                j_tpose = np.einsum("jv,vx->jx", self.J_regressor, v_tpose)
 
                 # Local SE(3) transforms.
                 T_parent_joint = np.zeros((self.num_joints, 4, 4)) + np.eye(4)
@@ -73,13 +73,13 @@ See here for download instructions:
 
                 # Linear blend skinning.
                 pose_delta = (joint_rotmats[1:, ...] - np.eye(3)).flatten()
-                v_blend = v_tpose + np.einsum("byn,n->by", self._posedirs, pose_delta)
+                v_blend = v_tpose + np.einsum("byn,n->by", self.posedirs, pose_delta)
                 v_delta = np.ones((v_blend.shape[0], self.num_joints, 4))
                 v_delta[:, :, :3] = v_blend[:, None, :] - j_tpose[None, :, :]
                 v_posed = np.einsum(
-                    "jxy,vj,vjy->vx", T_world_joint[:, :3, :], self._weights, v_delta
+                    "jxy,vj,vjy->vx", T_world_joint[:, :3, :], self.weights, v_delta
                 )
-                return SmplOutputs(v_posed, self._faces, T_world_joint, T_parent_joint)
+                return SmplOutputs(v_posed, self.faces, T_world_joint, T_parent_joint)
 
 
         def main(model_path: Path) -> None:
@@ -96,6 +96,13 @@ See here for download instructions:
                 num_joints=model.num_joints,
                 parent_idx=model.parent_idx,
             )
+            body_handle = server.scene.add_mesh_simple(
+                "/human",
+                model.v_template,
+                model.faces,
+                wireframe=gui_elements.gui_wireframe.value,
+                color=gui_elements.gui_rgb.value,
+            )
             while True:
                 # Do nothing if no change.
                 time.sleep(0.02)
@@ -104,21 +111,20 @@ See here for download instructions:
 
                 gui_elements.changed = False
 
-                # Compute SMPL outputs.
+                # If anything has changed, re-compute SMPL outputs.
                 smpl_outputs = model.get_outputs(
                     betas=np.array([x.value for x in gui_elements.gui_betas]),
                     joint_rotmats=tf.SO3.exp(
                         # (num_joints, 3)
                         np.array([x.value for x in gui_elements.gui_joints])
                     ).as_matrix(),
                 )
-                server.scene.add_mesh_simple(
-                    "/human",
-                    smpl_outputs.vertices,
-                    smpl_outputs.faces,
-                    wireframe=gui_elements.gui_wireframe.value,
-                    color=gui_elements.gui_rgb.value,
-                )
+
+                # Update the mesh properties based on the SMPL model output + GUI
+                # elements.
+                body_handle.vertices = smpl_outputs.vertices
+                body_handle.wireframe = gui_elements.gui_wireframe.value
+                body_handle.color = gui_elements.gui_rgb.value
 
                 # Match transform control gizmos to joint positions.
                 for i, control in enumerate(gui_elements.transform_controls):
@@ -156,7 +162,7 @@ See here for download instructions:
             with tab_group.add_tab("View", viser.Icon.VIEWFINDER):
                 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=False)
+                gui_show_controls = server.gui.add_checkbox("Handles", initial_value=True)
 
                 gui_rgb.on_update(set_changed)
                 gui_wireframe.on_update(set_changed)

docs/source/examples/25_smpl_visualizer_skinned.rst

@@ -45,21 +45,27 @@ See here for download instructions:
                 assert model_path.suffix.lower() == ".npz", "Model should be an .npz file!"
                 body_dict = dict(**np.load(model_path, allow_pickle=True))
 
-                self._J_regressor = body_dict["J_regressor"]
-                self._weights = body_dict["weights"]
-                self._v_template = body_dict["v_template"]
-                self._posedirs = body_dict["posedirs"]
-                self._shapedirs = body_dict["shapedirs"]
-                self._faces = body_dict["f"]
-
-                self.num_joints: int = self._weights.shape[-1]
-                self.num_betas: int = self._shapedirs.shape[-1]
+                self.J_regressor = body_dict["J_regressor"]
+                self.weights = body_dict["weights"]
+                self.v_template = body_dict["v_template"]
+                self.posedirs = body_dict["posedirs"]
+                self.shapedirs = body_dict["shapedirs"]
+                self.faces = body_dict["f"]
+
+                self.num_joints: int = self.weights.shape[-1]
+                self.num_betas: int = self.shapedirs.shape[-1]
                 self.parent_idx: np.ndarray = body_dict["kintree_table"][0]
 
+            def get_tpose(self, betas: np.ndarray) -> tuple[np.ndarray, np.ndarray]:
+                # Get shaped vertices + joint positions, when all local poses are identity.
+                v_tpose = self.v_template + np.einsum("vxb,b->vx", self.shapedirs, betas)
+                j_tpose = np.einsum("jv,vx->jx", self.J_regressor, v_tpose)
+                return v_tpose, j_tpose
+
             def get_outputs(self, betas: np.ndarray, joint_rotmats: np.ndarray) -> SmplOutputs:
                 # Get shaped vertices + joint positions, when all local poses are identity.
-                v_tpose = self._v_template + np.einsum("vxb,b->vx", self._shapedirs, betas)
-                j_tpose = np.einsum("jv,vx->jx", self._J_regressor, v_tpose)
+                v_tpose = self.v_template + np.einsum("vxb,b->vx", self.shapedirs, betas)
+                j_tpose = np.einsum("jv,vx->jx", self.J_regressor, v_tpose)
 
                 # Local SE(3) transforms.
                 T_parent_joint = np.zeros((self.num_joints, 4, 4)) + np.eye(4)
@@ -74,13 +80,13 @@ See here for download instructions:
 
                 # Linear blend skinning.
                 pose_delta = (joint_rotmats[1:, ...] - np.eye(3)).flatten()
-                v_blend = v_tpose + np.einsum("byn,n->by", self._posedirs, pose_delta)
+                v_blend = v_tpose + np.einsum("byn,n->by", self.posedirs, pose_delta)
                 v_delta = np.ones((v_blend.shape[0], self.num_joints, 4))
                 v_delta[:, :, :3] = v_blend[:, None, :] - j_tpose[None, :, :]
                 v_posed = np.einsum(
-                    "jxy,vj,vjy->vx", T_world_joint[:, :3, :], self._weights, v_delta
+                    "jxy,vj,vjy->vx", T_world_joint[:, :3, :], self.weights, v_delta
                 )
-                return SmplOutputs(v_posed, self._faces, T_world_joint, T_parent_joint)
+                return SmplOutputs(v_posed, self.faces, T_world_joint, T_parent_joint)
 
 
         def main(model_path: Path) -> None:
@@ -97,23 +103,14 @@ See here for download instructions:
                 num_joints=model.num_joints,
                 parent_idx=model.parent_idx,
             )
-            smpl_outputs = model.get_outputs(
-                betas=np.array([x.value for x in gui_elements.gui_betas]),
-                joint_rotmats=np.zeros((model.num_joints, 3, 3)) + np.eye(3),
-            )
-
-            bone_wxyzs = np.array(
-                [tf.SO3.from_matrix(R).wxyz for R in smpl_outputs.T_world_joint[:, :3, :3]]
-            )
-            bone_positions = smpl_outputs.T_world_joint[:, :3, 3]
-
-            skinned_handle = server.scene.add_mesh_skinned(
+            v_tpose, j_tpose = model.get_tpose(np.zeros((model.num_betas,)))
+            mesh_handle = server.scene.add_mesh_skinned(
                 "/human",
-                smpl_outputs.vertices,
-                smpl_outputs.faces,
-                bone_wxyzs=bone_wxyzs,
-                bone_positions=bone_positions,
-                skin_weights=model._weights,
+                v_tpose,
+                model.faces,
+                bone_wxyzs=tf.SO3.identity(batch_axes=(model.num_joints,)).wxyz,
+                bone_positions=j_tpose,
+                skin_weights=model.weights,
                 wireframe=gui_elements.gui_wireframe.value,
                 color=gui_elements.gui_rgb.value,
             )
@@ -124,10 +121,19 @@ See here for download instructions:
                 if not gui_elements.changed:
                     continue
 
+                # Shapes changed: update vertices / joint positions.
+                if gui_elements.betas_changed:
+                    v_tpose, j_tpose = model.get_tpose(
+                        np.array([gui_beta.value for gui_beta in gui_elements.gui_betas])
+                    )
+                    mesh_handle.vertices = v_tpose
+                    mesh_handle.bone_positions = j_tpose
+
                 gui_elements.changed = False
+                gui_elements.betas_changed = False
 
                 # Render as wireframe?
-                skinned_handle.wireframe = gui_elements.gui_wireframe.value
+                mesh_handle.wireframe = gui_elements.gui_wireframe.value
 
                 # Compute SMPL outputs.
                 smpl_outputs = model.get_outputs(
@@ -144,10 +150,10 @@ 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]
-                    skinned_handle.bones[i].wxyz = tf.SO3.from_matrix(
+                    mesh_handle.bones[i].wxyz = tf.SO3.from_matrix(
                         smpl_outputs.T_world_joint[i, :3, :3]
                     ).wxyz
-                    skinned_handle.bones[i].position = smpl_outputs.T_world_joint[i, :3, 3]
+                    mesh_handle.bones[i].position = smpl_outputs.T_world_joint[i, :3, 3]
 
 
         @dataclass
@@ -161,7 +167,10 @@ See here for download instructions:
             transform_controls: List[viser.TransformControlsHandle]
 
             changed: bool
-            """This flag will be flipped to True whenever the mesh needs to be re-generated."""
+            """This flag will be flipped to True whenever any input is changed."""
+
+            betas_changed: bool
+            """This flag will be flipped to True whenever the shape changes."""
 
 
         def make_gui_elements(
@@ -175,7 +184,11 @@ See here for download instructions:
             tab_group = server.gui.add_tab_group()
 
             def set_changed(_) -> None:
-                out.changed = True  # out is define later!
+                out.changed = True  # out is defined later!
+
+            def set_betas_changed(_) -> None:
+                out.betas_changed = True
+                out.changed = True
 
             # GUI elements: mesh settings + visibility.
             with tab_group.add_tab("View", viser.Icon.VIEWFINDER):
@@ -225,7 +238,7 @@ See here for download instructions:
                         f"beta{i}", min=-5.0, max=5.0, step=0.01, initial_value=0.0
                     )
                     gui_betas.append(beta)
-                    beta.on_update(set_changed)
+                    beta.on_update(set_betas_changed)
 
             # GUI elements: joint angles.
             with tab_group.add_tab("Joints", viser.Icon.ANGLE):
@@ -300,6 +313,7 @@ See here for download instructions:
                 gui_joints,
                 transform_controls=transform_controls,
                 changed=True,
+                betas_changed=False,
             )
             return out
 

examples/07_record3d_visualizer.py

@@ -31,6 +31,13 @@ def main(
 
     # Add playback UI.
     with server.gui.add_folder("Playback"):
+        gui_point_size = server.gui.add_slider(
+            "Point size",
+            min=0.001,
+            max=0.02,
+            step=1e-3,
+            initial_value=0.01,
+        )
         gui_timestep = server.gui.add_slider(
             "Timestep",
             min=0,
@@ -78,6 +85,10 @@ def _(_) -> None:
         nonlocal prev_timestep
         current_timestep = gui_timestep.value
         with server.atomic():
+            # Update point size.
+            point_nodes[current_timestep].point_size = gui_point_size.value
+
+            # Toggle visibility.
             frame_nodes[current_timestep].visible = True
             frame_nodes[prev_timestep].visible = False
         prev_timestep = current_timestep
@@ -91,6 +102,7 @@ def _(_) -> None:
         show_axes=False,
     )
     frame_nodes: list[viser.FrameHandle] = []
+    point_nodes: list[viser.PointCloudHandle] = []
     for i in tqdm(range(num_frames)):
         frame = loader.get_frame(i)
         position, color = frame.get_point_cloud(downsample_factor)
@@ -99,12 +111,14 @@ def _(_) -> None:
         frame_nodes.append(server.scene.add_frame(f"/frames/t{i}", show_axes=False))
 
         # Place the point cloud in the frame.
-        server.scene.add_point_cloud(
-            name=f"/frames/t{i}/point_cloud",
-            points=position,
-            colors=color,
-            point_size=0.01,
-            point_shape="rounded",
+        point_nodes.append(
+            server.scene.add_point_cloud(
+                name=f"/frames/t{i}/point_cloud",
+                points=position,
+                colors=color,
+                point_size=gui_point_size.value,
+                point_shape="rounded",
+            )
         )
 
         # Place the frustum.

examples/experimental/gaussian_splats.py

@@ -130,7 +130,7 @@ def _(event: viser.GuiEvent) -> None:
             raise SystemExit("Please provide a filepath to a .splat or .ply file.")
 
         server.scene.add_transform_controls(f"/{i}")
-        gs_handle = server.scene._add_gaussian_splats(
+        gs_handle = server.scene.add_gaussian_splats(
             f"/{i}/gaussian_splats",
             centers=splat_data["centers"],
             rgbs=splat_data["rgbs"],