Screen space line width for camera frustums

src/viser/_messages.py

@@ -186,8 +186,8 @@ class CameraFrustumProps:
     """Aspect ratio of the camera (width over height). Synchronized automatically when assigned."""
     scale: float
     """Scale factor for the size of the frustum. Synchronized automatically when assigned."""
-    line_thickness: float
-    """Thickness of the frustum lines. Synchronized automatically when assigned."""
+    line_width: float
+    """Width of the frustum lines. Synchronized automatically when assigned."""
     color: Tuple[int, int, int]
     """Color of the frustum as RGB integers. Synchronized automatically when assigned."""
     image_media_type: Optional[Literal["image/jpeg", "image/png"]]

src/viser/_scene_api.py

@@ -739,14 +739,15 @@ def add_camera_frustum(
         fov: float,
         aspect: float,
         scale: float = 0.3,
-        line_thickness: float | None = None,
+        line_width: float = 2.0,
         color: RgbTupleOrArray = (20, 20, 20),
         image: np.ndarray | None = None,
         format: Literal["png", "jpeg"] = "jpeg",
         jpeg_quality: int | None = None,
         wxyz: tuple[float, float, float, float] | np.ndarray = (1.0, 0.0, 0.0, 0.0),
         position: tuple[float, float, float] | np.ndarray = (0.0, 0.0, 0.0),
         visible: bool = True,
+        *_removed_kwargs,
     ) -> CameraFrustumHandle:
         """Add a camera frustum to the scene for visualization.
 
@@ -755,16 +756,15 @@ def add_camera_frustum(
         and coverage of a camera in the 3D space.
 
         Like all cameras in the viser Python API, frustums follow the OpenCV [+Z forward,
-        +X right, +Y down] convention. fov is vertical in radians; aspect is width over height
+        +X right, +Y down] convention. fov is vertical in radians; aspect is width over height.
 
         Args:
             name: A scene tree name. Names in the format of /parent/child can be used to
                 define a kinematic tree.
             fov: Field of view of the camera (in radians).
             aspect: Aspect ratio of the camera (width over height).
             scale: Scale factor for the size of the frustum.
-            line_thickness: Thickness of the frustum lines. If not set,
-                defaults to `0.03 * scale`.
+            line_width: Width of the frustum lines, in screen space. Defaults to `2.0`.
             color: Color of the frustum as an RGB tuple.
             image: Optional image to be displayed on the frustum.
             format: Format of the provided image ('png' or 'jpeg').
@@ -777,6 +777,12 @@ def add_camera_frustum(
             Handle for manipulating scene node.
         """
 
+        if "line_thickness" in _removed_kwargs:
+            warnings.warn(
+                "The 'line_thickness' argument has been removed. Please use 'line_width' instead. Note that the units have been changed from world space to screen space.",
+                DeprecationWarning,
+            )
+
         if image is not None:
             media_type, binary = _encode_image_binary(
                 image, format, jpeg_quality=jpeg_quality
@@ -791,9 +797,7 @@ def add_camera_frustum(
                 fov=fov,
                 aspect=aspect,
                 scale=scale,
-                line_thickness=line_thickness
-                if line_thickness is not None
-                else 0.03 * scale,
+                line_width=line_width,
                 color=_encode_rgb(color),
                 image_media_type=media_type,
                 image_binary=binary,

src/viser/client/src/SceneTree.tsx

@@ -282,7 +282,7 @@ function useObjectFactory(message: SceneNodeMessage | undefined): {
             fov={message.props.fov}
             aspect={message.props.aspect}
             scale={message.props.scale}
-            lineThickness={message.props.line_thickness}
+            lineWidth={message.props.line_width}
             color={rgbToInt(message.props.color)}
             imageBinary={message.props.image_binary}
             imageMediaType={message.props.image_media_type}

src/viser/client/src/ThreeAssets.tsx

@@ -1,4 +1,4 @@
-import { Instance, Instances, shaderMaterial } from "@react-three/drei";
+import { Instance, Instances, Line, shaderMaterial } from "@react-three/drei";
 import { createPortal, useFrame, useThree } from "@react-three/fiber";
 import { Outlines } from "./Outlines";
 import React from "react";
@@ -699,7 +699,7 @@ export const CameraFrustum = React.forwardRef<
     fov: number;
     aspect: number;
     scale: number;
-    lineThickness: number;
+    lineWidth: number;
     color: number;
     imageBinary: Uint8Array | null;
     imageMediaType: string | null;
@@ -722,59 +722,53 @@ export const CameraFrustum = React.forwardRef<
   let z = 1.0;
 
   const volumeScale = Math.cbrt((x * y * z) / 3.0);
-  x /= volumeScale;
-  y /= volumeScale;
-  z /= volumeScale;
-
-  function scaledLineSegments(points: [number, number, number][]) {
-    points = points.map((xyz) => [xyz[0] * x, xyz[1] * y, xyz[2] * z]);
-    return [...Array(points.length - 1).keys()].map((i) => (
-      <LineSegmentInstance
-        key={i}
-        start={new THREE.Vector3()
-          .fromArray(points[i])
-          .multiplyScalar(props.scale)}
-        end={new THREE.Vector3()
-          .fromArray(points[i + 1])
-          .multiplyScalar(props.scale)}
-        color={props.color}
-      />
-    ));
-  }
+  x /= volumeScale * props.scale;
+  y /= volumeScale * props.scale;
+  z /= volumeScale * props.scale;
+
+  const hoveredRef = React.useContext(HoverableContext)!;
+  const [isHovered, setIsHovered] = React.useState(false);
+
+  useFrame(() => {
+    if (hoveredRef.current !== isHovered) {
+      setIsHovered(hoveredRef.current);
+    }
+  });
+
+  const frustumPoints: [number, number, number][] = [
+    // Rectangle.
+    [-1, -1, 1],
+    [1, -1, 1],
+    [1, -1, 1],
+    [1, 1, 1],
+    [1, 1, 1],
+    [-1, 1, 1],
+    [-1, 1, 1],
+    [-1, -1, 1],
+    // Lines to origin.
+    [-1, -1, 1],
+    [0, 0, 0],
+    [0, 0, 0],
+    [1, -1, 1],
+    // Lines to origin.
+    [-1, 1, 1],
+    [0, 0, 0],
+    [0, 0, 0],
+    [1, 1, 1],
+    // Up direction indicator.
+    // Don't overlap with the image if the image is present.
+    [0.0, -1.2, 1.0],
+    imageTexture === undefined ? [0.0, -0.9, 1.0] : [0.0, -1.0, 1.0],
+  ].map((xyz) => [xyz[0] * x, xyz[1] * y, xyz[2] * z]);
 
   return (
     <group ref={ref}>
-      <Instances limit={9}>
-        <meshBasicMaterial color={props.color} side={THREE.DoubleSide} />
-        <cylinderGeometry
-          args={[props.lineThickness, props.lineThickness, 1.0, 3]}
-        />
-        {scaledLineSegments([
-          // Rectangle.
-          [-1, -1, 1],
-          [1, -1, 1],
-          [1, 1, 1],
-          [-1, 1, 1],
-          [-1, -1, 1],
-        ])}
-        {scaledLineSegments([
-          // Lines to origin.
-          [-1, -1, 1],
-          [0, 0, 0],
-          [1, -1, 1],
-        ])}
-        {scaledLineSegments([
-          // Lines to origin.
-          [-1, 1, 1],
-          [0, 0, 0],
-          [1, 1, 1],
-        ])}
-        {scaledLineSegments([
-          // Up direction.
-          [0.0, -1.2, 1.0],
-          [0.0, -0.9, 1.0],
-        ])}
-      </Instances>
+      <Line
+        points={frustumPoints}
+        color={isHovered ? 0xfbff00 : props.color}
+        lineWidth={isHovered ? 1.5 * props.lineWidth : props.lineWidth}
+        segments
+      />
       {imageTexture && (
         <mesh
           position={[0.0, 0.0, props.scale * z]}
@@ -797,36 +791,6 @@ export const CameraFrustum = React.forwardRef<
   );
 });
 
-function LineSegmentInstance(props: {
-  start: THREE.Vector3;
-  end: THREE.Vector3;
-  color: number;
-}) {
-  const desiredDirection = new THREE.Vector3()
-    .subVectors(props.end, props.start)
-    .normalize();
-  const canonicalDirection = new THREE.Vector3(0.0, 1.0, 0.0);
-  const orientation = new THREE.Quaternion().setFromUnitVectors(
-    canonicalDirection,
-    desiredDirection,
-  );
-
-  const length = props.start.distanceTo(props.end);
-  const midpoint = new THREE.Vector3()
-    .addVectors(props.start, props.end)
-    .divideScalar(2.0);
-
-  return (
-    <Instance
-      position={midpoint}
-      quaternion={orientation}
-      scale={[1.0, length, 1.0]}
-    >
-      <OutlinesIfHovered creaseAngle={0.0} />
-    </Instance>
-  );
-}
-
 export const HoverableContext =
   React.createContext<React.MutableRefObject<boolean> | null>(null);
 

src/viser/client/src/WebsocketMessages.ts

@@ -100,7 +100,7 @@ export interface CameraFrustumMessage {
     fov: number;
     aspect: number;
     scale: number;
-    line_thickness: number;
+    line_width: number;
     color: [number, number, number];
     image_media_type: "image/jpeg" | "image/png" | null;
     image_binary: Uint8Array | null;