.. Comment: this file is automatically generated by `update_example_docs.py`.
   It should not be modified manually.

Camera commands
==========================================


In addition to reads, camera parameters also support writes. These are synced to the
corresponding client automatically.



.. code-block:: python
        :linenos:


        import time

        import numpy as np

        import viser
        import viser.transforms as tf

        server = viser.ViserServer()
        num_frames = 20


        @server.on_client_connect
        def _(client: viser.ClientHandle) -> None:
            """For each client that connects, we create a set of random frames + a click handler for each frame.

            When a frame is clicked, we move the camera to the corresponding frame.
            """

            rng = np.random.default_rng(0)

            def make_frame(i: int) -> None:
                # Sample a random orientation + position.
                wxyz = rng.normal(size=4)
                wxyz /= np.linalg.norm(wxyz)
                position = rng.uniform(-3.0, 3.0, size=(3,))

                # Create a coordinate frame and label.
                frame = client.scene.add_frame(f"/frame_{i}", wxyz=wxyz, position=position)
                client.scene.add_label(f"/frame_{i}/label", text=f"Frame {i}")

                # Move the camera when we click a frame.
                @frame.on_click
                def _(_):
                    T_world_current = tf.SE3.from_rotation_and_translation(
                        tf.SO3(client.camera.wxyz), client.camera.position
                    )
                    T_world_target = tf.SE3.from_rotation_and_translation(
                        tf.SO3(frame.wxyz), frame.position
                    ) @ tf.SE3.from_translation(np.array([0.0, 0.0, -0.5]))

                    T_current_target = T_world_current.inverse() @ T_world_target

                    for j in range(20):
                        T_world_set = T_world_current @ tf.SE3.exp(
                            T_current_target.log() * j / 19.0
                        )

                        # We can atomically set the orientation and the position of the camera
                        # together to prevent jitter that might happen if one was set before the
                        # other.
                        with client.atomic():
                            client.camera.wxyz = T_world_set.rotation().wxyz
                            client.camera.position = T_world_set.translation()

                        client.flush()  # Optional!
                        time.sleep(1.0 / 60.0)

                    # Mouse interactions should orbit around the frame origin.
                    client.camera.look_at = frame.position

            for i in range(num_frames):
                make_frame(i)


        while True:
            time.sleep(1.0)