clicking on cameras in the viewer

nerfstudio/viewer_beta/viewer.py

@@ -95,8 +95,7 @@ class Viewer:
         self.train_btn_state: Literal["training", "paused", "completed"] = "training"
         self._prev_train_state: Literal["training", "paused", "completed"] = "training"
 
-        self.camera_message = None
-
+        self.client = None
         self.viser_server = viser.ViserServer(host=config.websocket_host, port=websocket_port)
 
         self.viser_server.on_client_connect(self.handle_new_client)
@@ -114,14 +113,16 @@ class Viewer:
         self.render_statemachine.start()
 
     def handle_new_client(self, client: viser.ClientHandle) -> None:
+        self.client = client
+
         @client.camera.on_update
         def _(_: viser.CameraHandle) -> None:
-            R = vtf.SO3(wxyz=client.camera.wxyz)
+            R = vtf.SO3(wxyz=self.client.camera.wxyz)
             R = R @ vtf.SO3.from_x_radians(np.pi)
             R = torch.tensor(R.as_matrix())
-            pos = torch.tensor(client.camera.position, dtype=torch.float64) / VISER_NERFSTUDIO_SCALE_RATIO
+            pos = torch.tensor(self.client.camera.position, dtype=torch.float64) / VISER_NERFSTUDIO_SCALE_RATIO
             c2w = torch.concatenate([R, pos[:, None]], dim=1)
-            self.camera_state = CameraState(fov=client.camera.fov, aspect=client.camera.aspect, c2w=c2w)
+            self.camera_state = CameraState(fov=self.client.camera.fov, aspect=self.client.camera.aspect, c2w=c2w)
             self.render_statemachine.action(RenderAction("move", self.camera_state))
 
     def _interrupt_render(self, _) -> None:
@@ -190,8 +191,8 @@ class Viewer:
             c2w = camera.camera_to_worlds.cpu().numpy()
             R = vtf.SO3.from_matrix(c2w[:3, :3])
             R = R @ vtf.SO3.from_x_radians(np.pi)
-            self.viser_server.add_camera_frustum(
-                name=f"Camera {idx}",
+            camera_handle = self.viser_server.add_camera_frustum(
+                name=f"/camera_{idx:05d}",
                 fov=float(camera.fx[0]),
                 scale=0.2,
                 aspect=float(camera.cx[0] / camera.cy[0]),
@@ -200,6 +201,12 @@ class Viewer:
                 position=c2w[:3, 3] * VISER_NERFSTUDIO_SCALE_RATIO,
             )
 
+            @camera_handle.on_click
+            def _(cam: viser.CameraHandle) -> None:
+                with self.client.atomic():
+                    self.client.camera.position = cam.position
+                    self.client.camera.wxyz = cam.wxyz
+
         self.train_state = train_state
         self.train_util = 0.9