deploy: e8d7b60

latest/.buildinfo

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+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: 374c96257dbeedf1698794afe349bc7e
+tags: d77d1c0d9ca2f4c8421862c7c5a0d620

latest/_sources/client_handles.md.txt

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+# Client Handles
+
+A handle is created for each client that connects to a server. Handles can be
+used to communicate with just one client, as well as for reading and writing of
+camera state.
+
+<!-- prettier-ignore-start -->
+
+.. autoclass:: viser.ClientHandle
+   :members:
+   :undoc-members:
+   :inherited-members:
+
+.. autoclass:: viser.CameraHandle
+   :members:
+   :undoc-members:
+   :inherited-members:
+
+<!-- prettier-ignore-end -->

latest/_sources/conventions.md.txt

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+# Frame Conventions
+
+In this note, we describe the coordinate frame conventions used in `viser`.
+
+## Scene tree naming
+
+Each object that we add to the scene in viser is instantiated as a node in a
+scene tree. The structure of this tree is determined by the names assigned to
+the nodes.
+
+If we add a coordinate frame called `/base_link/shoulder/wrist`, it signifies
+three nodes: the `wrist` is a child of the `shoulder` which is a child of the
+`base_link`.
+
+If we set the transformation of a given node like `/shoulder`, both it and all
+of its children will move. Its parent, `/base_link`, will be unaffected.
+
+## Poses
+
+Poses in `viser` are defined using a pair of fields:
+
+- `wxyz`, a unit quaternion orientation term. This should always be 4D.
+- `position`, a translation term. This should always be 3D.
+
+These correspond to a transformation from coordinates in the local frame to the
+parent frame:
+
+<!-- prettier-ignore-start -->
+
+.. math::
+
+   p_\mathrm{parent} = \begin{bmatrix} R \mid t \end{bmatrix}p_\mathrm{local}
+
+<!-- prettier-ignore-end -->
+
+where `wxyz` is the quaternion form of the :math:`\mathrm{SO}(3)` matrix
+:math:`R` and `position` is the translation term :math:`t`.
+
+## 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()`.
+
+## Cameras
+
+All camera parameters exposed to the Python API use the COLMAP/OpenCV
+convention:
+
+- Forward: +Z
+- Up: -Y
+- Right: +X
+
+Confusingly, this is different from Nerfstudio, which adopts the OpenGL/Blender
+convention:
+
+- Forward: -Z
+- Up: +Y
+- Right: +X
+
+Note that conversion between the two is a simple 180 degree rotation around the
+X-axis.

latest/_sources/development.md.txt

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+# Development
+
+In this note, we outline current practices, tools, and workflows for `viser`
+development. We assume that the repository is cloned to `~/viser`.
+
+## Python install
+
+We recommend an editable install for Python development, ideally in a virtual
+environment (eg via conda).
+
+```bash
+# Install package.
+cd ~/viser
+pip install -e .
+
+# Install example dependencies.
+pip install -e .[examples]
+```
+
+After installation, any of the example scripts (`~/viser/examples`) should be
+runnable. A few of them require downloading assets, which can be done via the
+scripts in `~/viser/examples/assets`.
+
+**Linting, formatting, type-checking.**
+
+First, install developer tools:
+
+```bash
+# Using pip.
+pip install -e .[dev]
+pre-commit install
+```
+
+It would be hard to write unit tests for `viser`. We rely on static typing for
+robustness. To check your code, you can run the following:
+
+```bash
+# runs linting, formatting, and type-checking
+viser-dev-checks
+```
+
+## Message updates
+
+The `viser` frontend and backend communicate via a shared set of message
+definitions:
+
+- On the server, these are defined as Python dataclasses in
+  `~/viser/viser/_messages.py`.
+- On the client, these are defined as TypeScript interfaces in
+  `~/viser/viser/client/src/WebsocketMessages.tsx`.
+
+Note that there is a 1:1 correspondence between the dataclasses message types
+and the TypeScript ones.
+
+The TypeScript definitions should not be manually modified. Instead, changes
+should be made in Python and synchronized via the `sync_message_defs.py` script:
+
+```
+cd ~/viser
+python sync_message_defs.py
+```
+
+## Client development
+
+For client development, we can start by launching a relevant Python script. The
+examples are a good place to start:
+
+```
+cd ~/viser/examples
+python 05_camera_commands.py
+```
+
+When a `viser` script is launched, two URLs will be printed:
+
+- An HTTP URL, like `http://localhost:8080`, which can be used to open a
+  _pre-built_ version of the React frontend.
+- A websocket URL, like `ws://localhost:8080`, which client applications can
+  connect to.
+
+If changes to the client source files are detected on startup, `viser` will
+re-build the client automatically. This is okay for quick changes, but for
+faster iteration we can also launch a development version of the frontend, which
+will reflect changes we make to the client source files
+(`~/viser/viser/client/src`) without a full build. This requires a few more
+steps.
+
+**Installing dependencies.**
+
+1. [Install nodejs.](https://nodejs.dev/en/download/package-manager)
+2. [Install yarn.](https://yarnpkg.com/getting-started/install)
+3. Install dependencies.
+   ```
+   cd ~/viser/viser/client
+   yarn install
+   ```
+
+**Launching client.**
+
+To launch the client, we can run:
+
+```
+cd ~/viser/viser/client
+yarn start
+```
+
+from the `viser/viser/client` directory. After opening the client in a web
+browser, the websocket server address typically needs to be updated in the
+"Server" tab.
+
+**Formatting.**
+
+We use [prettier](https://prettier.io/docs/en/install.html). This can be run via
+one of:
+
+- `prettier -w .`
+- `npx prettier -w .`
+
+from `~/viser/client`.

latest/_sources/events.md.txt

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+# Events
+
+We define a small set of event types, which are passed to callback functions
+when events like clicks or GUI updates are triggered.
+
+<!-- prettier-ignore-start -->
+
+.. autoclass:: viser.ScenePointerEvent()
+
+.. autoclass:: viser.SceneNodePointerEvent()
+
+.. autoclass:: viser.GuiEvent()
+
+<!-- prettier-ignore-end -->

latest/_sources/examples/00_coordinate_frames.rst.txt

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+.. Comment: this file is automatically generated by `update_example_docs.py`.
+   It should not be modified manually.
+
+Coordinate frames
+==========================================
+
+
+In this basic example, we visualize a set of coordinate frames.
+
+Naming for all scene nodes are hierarchical; /tree/branch, for example, is defined
+relative to /tree.
+
+
+
+.. code-block:: python
+        :linenos:
+
+
+        import random
+        import time
+
+        import viser
+
+        server = viser.ViserServer()
+
+        while True:
+            # Add some coordinate frames to the scene. These will be visualized in the viewer.
+            server.add_frame(
+                "/tree",
+                wxyz=(1.0, 0.0, 0.0, 0.0),
+                position=(random.random() * 2.0, 2.0, 0.2),
+            )
+            server.add_frame(
+                "/tree/branch",
+                wxyz=(1.0, 0.0, 0.0, 0.0),
+                position=(random.random() * 2.0, 2.0, 0.2),
+            )
+            leaf = server.add_frame(
+                "/tree/branch/leaf",
+                wxyz=(1.0, 0.0, 0.0, 0.0),
+                position=(random.random() * 2.0, 2.0, 0.2),
+            )
+            time.sleep(5.0)
+
+            # Remove the leaf node from the scene.
+            leaf.remove()
+            time.sleep(0.5)

latest/_sources/examples/01_image.rst.txt

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+.. Comment: this file is automatically generated by `update_example_docs.py`.
+   It should not be modified manually.
+
+Images
+==========================================
+
+
+Example for sending images to the viewer.
+
+We can send backgrond images to display behind the viewer (useful for visualizing
+NeRFs), or images to render as 3D textures.
+
+
+
+.. code-block:: python
+        :linenos:
+
+
+        import time
+        from pathlib import Path
+
+        import imageio.v3 as iio
+        import numpy as onp
+        import viser
+
+
+        def main() -> None:
+            server = viser.ViserServer()
+
+            # Add a background image.
+            server.set_background_image(
+                iio.imread(Path(__file__).parent / "assets/Cal_logo.png"),
+                format="png",
+            )
+
+            # Add main image.
+            server.add_image(
+                "/img",
+                iio.imread(Path(__file__).parent / "assets/Cal_logo.png"),
+                4.0,
+                4.0,
+                format="png",
+                wxyz=(1.0, 0.0, 0.0, 0.0),
+                position=(2.0, 2.0, 0.0),
+            )
+            while True:
+                server.add_image(
+                    "/noise",
+                    onp.random.randint(
+                        0,
+                        256,
+                        size=(400, 400, 3),
+                        dtype=onp.uint8,
+                    ),
+                    4.0,
+                    4.0,
+                    format="jpeg",
+                    wxyz=(1.0, 0.0, 0.0, 0.0),
+                    position=(2.0, 2.0, -1e-2),
+                )
+                time.sleep(0.2)
+
+
+        if __name__ == "__main__":
+            main()