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Nicer frustum ray #1019

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merged 2 commits into from
Feb 1, 2023
Merged

Nicer frustum ray #1019

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623ca83
Nicer frustum ray
Wumpf Jan 31, 2023
04a25be
point out thick/think line dynamic in show_projections_from_2d_space
Wumpf Feb 1, 2023
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11 changes: 3 additions & 8 deletions crates/re_viewer/src/ui/view_spatial/scene/scene_part/cameras.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -86,22 +86,17 @@ impl CamerasPart {
return;
};

// Actual primitives are generated later.
// Currently, we need information about viewport to display it correctly.
// TODO(andreas): Would be great if we add all the lines etc. right away!
// Let's attempt this as part of
// https://github.com/rerun-io/rerun/issues/681 (Improve camera frustum length heuristic & editability)
// and https://github.com/rerun-io/rerun/issues/686 (Replace camera mesh with expressive camera gizmo (extension of current frustum)
let frustum_length = props.pinhole_image_plane_distance(&pinhole);

scene.space_cameras.push(SpaceCamera3D {
entity_path: entity_path.clone(),
instance_path_hash,
view_coordinates,
world_from_camera,
pinhole: Some(pinhole),
picture_plane_distance: Some(frustum_length),
});

let frustum_length = props.pinhole_image_plane_distance(&pinhole);

// TODO(andreas): FOV fallback doesn't make much sense. What does pinhole without fov mean?
let fov_y = pinhole.fov_y().unwrap_or(std::f32::consts::FRAC_PI_2);
let fy = (fov_y * 0.5).tan() * frustum_length;
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3 changes: 3 additions & 0 deletions crates/re_viewer/src/ui/view_spatial/space_camera_3d.rs
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Expand Up @@ -25,6 +25,9 @@ pub struct SpaceCamera3D {
// Optional projection-related things:
/// The projection transform of a child-entity.
pub pinhole: Option<re_log_types::Pinhole>,

/// Optional distance of a picture plane from the camera.
pub picture_plane_distance: Option<f32>,
}

impl SpaceCamera3D {
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61 changes: 29 additions & 32 deletions crates/re_viewer/src/ui/view_spatial/ui_3d.rs
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Expand Up @@ -602,45 +602,42 @@ fn show_projections_from_2d_space(
scene_bbox_accum: &BoundingBox,
) {
if let HoveredSpace::TwoD { space_2d, pos } = ctx.selection_state().hovered_space() {
let mut point_batch = scene
.primitives
.points
.batch("projection from 2d hit points");
let mut line_batch = scene.primitives.line_strips.batch("picking ray");

for cam in &scene.space_cameras {
if &cam.entity_path == space_2d {
if let Some(ray) = cam.unproject_as_ray(glam::vec2(pos.x, pos.y)) {
// TODO(emilk): better visualization of a ray
let mut hit_pos = None;
if pos.z.is_finite() && pos.z > 0.0 {
if let Some(world_from_image) = cam.world_from_image() {
let pos = world_from_image
.transform_point3(glam::vec3(pos.x, pos.y, 1.0) * pos.z);
hit_pos = Some(pos);
}
}
let length = if let Some(hit_pos) = hit_pos {
hit_pos.distance(cam.position())
// Render a thick line to the actual z value if any and a weaker one as an extension
// If we don't have a z value, we only render the thick one.
let thick_ray_length = if pos.z.is_finite() && pos.z > 0.0 {
Some(pos.z)
} else {
4.0 * scene_bbox_accum.half_size().length() // should be long enough
cam.picture_plane_distance
};

let origin = ray.point_along(0.0);
let end = ray.point_along(length);
let radius = Size::new_points(1.5);

scene
.primitives
.line_strips
.batch("ray")
.add_segment(origin, end)
.radius(radius);

if let Some(pos) = hit_pos {
// Show where the ray hits the depth map:
point_batch
.add_point(pos)
.radius(radius * 3.0)
.color(egui::Color32::WHITE);
// No harm in making this ray _very_ long. (Infinite messes with things though!)
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as long as it is not counted into scene_bbox_accum 😬

(btw, I think the frustum box is perhaps counted to scene_bbox_accum, which messes up auto-camera-centering after having a large frustum distance)

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yes, frustum box is counted :/
and indeed this one is not because it comes after scene build up
not fond or the way we do the bounding box overall

let fallback_ray_end = ray.point_along(scene_bbox_accum.size().length() * 10.0);

if let Some(line_length) = thick_ray_length {
let main_ray_end = ray.point_along(line_length);
line_batch
.add_segment(origin, main_ray_end)
.color(egui::Color32::WHITE)
.flags(re_renderer::renderer::LineStripFlags::NO_COLOR_GRADIENT)
.radius(Size::new_points(1.0));
line_batch
.add_segment(main_ray_end, fallback_ray_end)
.color(egui::Color32::DARK_GRAY)
// TODO(andreas): Make this dashed.
.flags(re_renderer::renderer::LineStripFlags::NO_COLOR_GRADIENT)
.radius(Size::new_points(0.5));
} else {
line_batch
.add_segment(origin, fallback_ray_end)
.color(egui::Color32::WHITE)
.flags(re_renderer::renderer::LineStripFlags::NO_COLOR_GRADIENT)
.radius(Size::new_points(1.0));
}
}
}
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