How to choose a 3D JavaScript library

What made you choose three.js instead of Babylon.js or others?
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just pick whatever, they are all the more or less the same.

for babylon, I saw people go for it because 1st class typescript support (whereas three.js relies on 3rd party in that department) but personally not being able to make a camera without initializing the whole engine 1st was a big turn-off, so I kind of stayed with three.js where things are more isolated on the surface.

What (exactly) is three.js for?