Work through some geometry for set_up_direction(), bump ruff

docs/source/examples/03_gui_callbacks.rst

@@ -44,7 +44,10 @@ we get updates.
             gui_plane.on_update(lambda _: update_plane())
 
             with server.add_gui_folder("Control", expand_by_default=False):
-                gui_show = server.add_gui_checkbox("Show Frame", initial_value=True)
+                gui_show_frame = server.add_gui_checkbox("Show Frame", initial_value=True)
+                gui_show_everything = server.add_gui_checkbox(
+                    "Show Everything", initial_value=True
+                )
                 gui_axis = server.add_gui_dropdown("Axis", ("x", "y", "z"))
                 gui_include_z = server.add_gui_checkbox("Z in dropdown", initial_value=True)
 
@@ -75,7 +78,7 @@ we get updates.
                     "/frame",
                     wxyz=(1.0, 0.0, 0.0, 0.0),
                     position=pos,
-                    show_axes=gui_show.value,
+                    show_axes=gui_show_frame.value,
                     axes_length=5.0,
                 )
 
@@ -89,15 +92,18 @@ we get updates.
 
             # We can (optionally) also attach callbacks!
             # Here, we update the point clouds + frames whenever any of the GUI items are updated.
-            gui_show.on_update(lambda _: draw_frame())
+            gui_show_frame.on_update(lambda _: draw_frame())
+            gui_show_everything.on_update(
+                lambda _: server.set_global_scene_node_visibility(gui_show_everything.value)
+            )
             gui_axis.on_update(lambda _: draw_frame())
             gui_location.on_update(lambda _: draw_frame())
             gui_num_points.on_update(lambda _: draw_points())
 
             @gui_reset_scene.on_click
             def _(_) -> None:
                 """Reset the scene when the reset button is clicked."""
-                gui_show.value = True
+                gui_show_frame.value = True
                 gui_location.value = 0.0
                 gui_axis.value = "x"
                 gui_num_points.value = 10_000

docs/source/examples/06_mesh.rst

@@ -22,7 +22,7 @@ Visualize a mesh. To get the demo data, see ``./assets/download_dragon_mesh.sh``
         import viser
         import viser.transforms as tf
 
-        mesh = trimesh.load_mesh(Path(__file__).parent / "assets/dragon.obj")
+        mesh = trimesh.load_mesh(str(Path(__file__).parent / "assets/dragon.obj"))
         assert isinstance(mesh, trimesh.Trimesh)
         mesh.apply_scale(0.05)
 

docs/source/examples/20_scene_click.rst

@@ -29,7 +29,7 @@ To get the demo data, see ``./assets/download_dragon_mesh.sh``.
 
         server = viser.ViserServer()
 
-        mesh = trimesh.load_mesh(Path(__file__).parent / "assets/dragon.obj")
+        mesh = trimesh.load_mesh(str(Path(__file__).parent / "assets/dragon.obj"))
         assert isinstance(mesh, trimesh.Trimesh)
         mesh.apply_scale(0.05)
 

pyproject.toml

@@ -40,7 +40,7 @@ dependencies = [
 dev = [
     "pyright>=1.1.308",
     "mypy>=1.4.1",
-    "ruff==0.0.267",
+    "ruff==0.1.9",
     "black==23.11.0",
     "pre-commit==3.3.2",
 ]
@@ -87,6 +87,7 @@ select = [
 ignore = [
     "E741", # Ambiguous variable name. (l, O, or I)
     "E501",  # Line too long.
+    "E721",  # Do not compare types, use `isinstance()`.
     "F722",  # Forward annotation false positive from jaxtyping. Should be caught by pyright.
     "F821",  # Forward annotation false positive from jaxtyping. Should be caught by pyright.
     "PLR2004",  # Magic value used in comparison.

src/viser/_client_autobuild.py

@@ -68,6 +68,7 @@ def ensure_client_is_built() -> None:
             ),
             cwd=client_dir,
             shell=True,
+            check=False,
         )
 
 
@@ -79,10 +80,13 @@ def _install_sandboxed_node() -> Path:
         rich.print("[bold](viser)[/bold] nodejs is set up!")
         return env_dir
 
-    subprocess.run([sys.executable, "-m", "nodeenv", "--node=20.4.0", env_dir])
+    subprocess.run(
+        [sys.executable, "-m", "nodeenv", "--node=20.4.0", env_dir], check=False
+    )
     subprocess.run(
         args=[env_dir / "bin" / "npm", "install", "yarn"],
         input="y\n".encode(),
+        check=False,
     )
     assert (env_dir / "bin" / "npx").exists()
     return env_dir

src/viser/_message_api.py

@@ -280,37 +280,34 @@ def rotate_between(before: onp.ndarray, after: onp.ndarray) -> tf.SO3:
             before = before / onp.linalg.norm(before)
             after = after / onp.linalg.norm(after)
 
-            angle = onp.arccos(onp.dot(before, after))
+            angle = onp.arccos(onp.clip(onp.dot(before, after), -1, 1))
             axis = onp.cross(before, after)
-            if onp.allclose(axis, onp.zeros(3)):
-                axis = onp.cross(
-                    before,
-                    (1.0, 0.0, 0.0)
-                    if onp.abs(before[0]) < onp.abs(before[1])
-                    else (0.0, 1.0, 0.0),
-                )
+            if onp.allclose(axis, onp.zeros(3), rtol=1e-3, atol=1e-5):
+                unit_vector = onp.arange(3) == onp.argmin(onp.abs(before))
+                axis = onp.cross(before, unit_vector)
             axis = axis / onp.linalg.norm(axis)
+            return tf.SO3.exp(angle * axis)
 
-            return tf.SO3.exp(-angle * axis)
-
-        R_threeworld_world = rotate_between(default_three_up, direction)
+        R_threeworld_world = rotate_between(direction, default_three_up)
 
         # Rotate the world frame such that:
         #     If we set +Y to up, +X and +Z should face the camera.
         #     If we set +Z to up, +X and +Y should face the camera.
-        #
-        # This could be made more efficient...
-        thetas = onp.arange(360)
-        sums = [
-            onp.sum(
-                (tf.SO3.from_y_radians(theta) @ R_threeworld_world)
-                @ onp.array([-1.0, -1.0, -1.0])
+        # In App.tsx, the camera is initialized at [-3, 3, -3] in the threejs
+        # coordinate frame.
+        desired_fwd = onp.array([-1.0, 0.0, -1.0]) / onp.sqrt(2.0)
+        current_fwd = R_threeworld_world @ (onp.ones(3) / onp.sqrt(3.0))
+        current_fwd = current_fwd * onp.array([1.0, 0.0, 1.0])
+        current_fwd = current_fwd / onp.linalg.norm(current_fwd)
+        R_threeworld_world = (
+            tf.SO3.from_y_radians(  # Rotate around the null space / up direction.
+                onp.arctan2(
+                    onp.cross(current_fwd, desired_fwd)[1],
+                    onp.dot(current_fwd, desired_fwd),
+                ),
             )
-            for theta in thetas
-        ]
-        best_theta = thetas[onp.argmax(sums)]
-
-        R_threeworld_world = tf.SO3.from_y_radians(best_theta) @ R_threeworld_world
+            @ R_threeworld_world
+        )
 
         if not onp.any(onp.isnan(R_threeworld_world.wxyz)):
             # Set the orientation of the root node.
@@ -685,8 +682,8 @@ def add_point_cloud(
         assert (
             len(points.shape) == 2 and points.shape[-1] == 3
         ), "Shape of points should be (N, 3)."
-        assert colors_cast.shape == points.shape or colors_cast.shape == (
-            3,
+        assert (
+            colors_cast.shape == points.shape == (3,)
         ), "Shape of colors should be (N, 3) or (3,)."
 
         if colors_cast.shape == (3,):

sync_message_defs.py

@@ -19,4 +19,4 @@
     print(f"Wrote to {target_path}")
 
     # Run prettier.
-    subprocess.run(args=["npx", "prettier", "-w", str(target_path)])
+    subprocess.run(args=["npx", "prettier", "-w", str(target_path)], check=False)