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Cached 2D & 3D box clouds #5000

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merged 4 commits into from
Feb 1, 2024
Merged

Cached 2D & 3D box clouds #5000

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13e56bf
implement caching support for Boxes2D
teh-cmc Feb 1, 2024
0aac1e7
implement caching support for Boxes3D
teh-cmc Feb 1, 2024
b6d80ba
update caching toggles doc
teh-cmc Feb 1, 2024
1d18bba
lint
teh-cmc Feb 1, 2024
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164 changes: 113 additions & 51 deletions crates/re_space_view_spatial/src/visualizers/boxes2d.rs
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Original file line number Diff line number Diff line change
@@ -1,8 +1,7 @@
use re_entity_db::{EntityPath, InstancePathHash};
use re_query::{ArchetypeView, QueryError};
use re_types::{
archetypes::Boxes2D,
components::{HalfSizes2D, Position2D, Text},
components::{ClassId, Color, HalfSizes2D, InstanceKey, KeypointId, Position2D, Radius, Text},
};
use re_viewer_context::{
ApplicableEntities, IdentifiedViewSystem, ResolvedAnnotationInfos,
Expand All @@ -17,8 +16,8 @@ use crate::{
};

use super::{
entity_iterator::process_archetype_views, filter_visualizable_2d_entities,
picking_id_from_instance_key, process_annotations, process_colors, process_radii,
filter_visualizable_2d_entities, picking_id_from_instance_key,
process_annotation_and_keypoint_slices, process_color_slice, process_radius_slice,
SpatialViewVisualizerData,
};

Expand All @@ -39,23 +38,24 @@ impl Default for Boxes2DVisualizer {

impl Boxes2DVisualizer {
fn process_labels<'a>(
arch_view: &'a ArchetypeView<Boxes2D>,
labels: &'a [Option<Text>],
half_sizes: &'a [HalfSizes2D],
centers: impl Iterator<Item = Position2D> + 'a,
instance_path_hashes: &'a [InstancePathHash],
colors: &'a [egui::Color32],
annotation_infos: &'a ResolvedAnnotationInfos,
) -> Result<impl Iterator<Item = UiLabel> + 'a, QueryError> {
let labels = itertools::izip!(
) -> impl Iterator<Item = UiLabel> + 'a {
itertools::izip!(
annotation_infos.iter(),
arch_view.iter_required_component::<HalfSizes2D>()?,
arch_view.iter_optional_component::<Position2D>()?,
arch_view.iter_optional_component::<Text>()?,
half_sizes,
centers,
labels,
colors,
instance_path_hashes,
)
.filter_map(
move |(annotation_info, half_size, center, label, color, labeled_instance)| {
let label = annotation_info.label(label.as_ref().map(|l| l.as_str()));
let center = center.unwrap_or(Position2D::ZERO);
let min = half_size.box_min(center);
let max = half_size.box_max(center);
label.map(|label| UiLabel {
Expand All @@ -68,50 +68,63 @@ impl Boxes2DVisualizer {
labeled_instance: *labeled_instance,
})
},
);
Ok(labels)
)
}

fn process_arch_view(
fn process_data(
&mut self,
query: &ViewQuery<'_>,
arch_view: &ArchetypeView<Boxes2D>,
data: &Boxes2DComponentData<'_>,
ent_path: &EntityPath,
ent_context: &SpatialSceneEntityContext<'_>,
) -> Result<(), QueryError> {
let annotation_infos = process_annotations::<HalfSizes2D, Boxes2D>(
query,
arch_view,
) {
let (annotation_infos, _) = process_annotation_and_keypoint_slices(
query.latest_at,
data.instance_keys,
data.keypoint_ids,
data.class_ids,
data.half_sizes.iter().map(|_| glam::Vec3::ZERO),
&ent_context.annotations,
)?;
);

let centers = || {
data.centers
.as_ref()
.map_or(
itertools::Either::Left(std::iter::repeat(&None).take(data.half_sizes.len())),
|data| itertools::Either::Right(data.iter()),
)
.map(|center| center.unwrap_or(Position2D::ZERO))
};

let instance_keys = arch_view.iter_instance_keys();
let half_sizes = arch_view.iter_required_component::<HalfSizes2D>()?;
let positions = arch_view
.iter_optional_component::<Position2D>()?
.map(|position| position.unwrap_or(Position2D::ZERO));
let radii = process_radii(arch_view, ent_path)?;
let colors = process_colors(arch_view, ent_path, &annotation_infos)?;
let radii = process_radius_slice(data.radii, data.half_sizes.len(), ent_path);
let colors = process_color_slice(data.colors, ent_path, &annotation_infos);

if data.instance_keys.len() <= self.max_labels {
re_tracing::profile_scope!("labels");

if arch_view.num_instances() <= self.max_labels {
// Max labels is small enough that we can afford iterating on the colors again.
let colors =
process_colors(arch_view, ent_path, &annotation_infos)?.collect::<Vec<_>>();
let colors = process_color_slice(data.colors, ent_path, &annotation_infos);

let instance_path_hashes_for_picking = {
re_tracing::profile_scope!("instance_hashes");
arch_view
.iter_instance_keys()
data.instance_keys
.iter()
.copied()
.map(|instance_key| InstancePathHash::instance(ent_path, instance_key))
.collect::<Vec<_>>()
};

self.data.ui_labels.extend(Self::process_labels(
arch_view,
&instance_path_hashes_for_picking,
&colors,
&annotation_infos,
)?);
if let Some(labels) = data.labels {
self.data.ui_labels.extend(Self::process_labels(
labels,
data.half_sizes,
centers(),
&instance_path_hashes_for_picking,
&colors,
&annotation_infos,
));
}
}

let mut line_builder = ent_context.shared_render_builders.lines();
Expand All @@ -124,13 +137,17 @@ impl Boxes2DVisualizer {

let mut bounding_box = macaw::BoundingBox::nothing();

for (instance_key, half_size, position, radius, color) in
itertools::izip!(instance_keys, half_sizes, positions, radii, colors)
{
let instance_hash = re_entity_db::InstancePathHash::instance(ent_path, instance_key);
for (instance_key, half_size, center, radius, color) in itertools::izip!(
data.instance_keys,
data.half_sizes,
centers(),
radii,
colors
) {
let instance_hash = re_entity_db::InstancePathHash::instance(ent_path, *instance_key);

let min = half_size.box_min(position);
let max = half_size.box_max(position);
let min = half_size.box_min(center);
let max = half_size.box_max(center);
bounding_box.extend(min.extend(0.0));
bounding_box.extend(max.extend(0.0));

Expand All @@ -142,7 +159,7 @@ impl Boxes2DVisualizer {
)
.color(color)
.radius(radius)
.picking_instance_id(picking_id_from_instance_key(instance_key));
.picking_instance_id(picking_id_from_instance_key(*instance_key));
if let Some(outline_mask_ids) = ent_context
.highlight
.instances
Expand All @@ -154,11 +171,22 @@ impl Boxes2DVisualizer {

self.data
.add_bounding_box(ent_path.hash(), bounding_box, ent_context.world_from_entity);

Ok(())
}
}

// ---

struct Boxes2DComponentData<'a> {
pub instance_keys: &'a [InstanceKey],
pub half_sizes: &'a [HalfSizes2D],
pub centers: Option<&'a [Option<Position2D>]>,
pub colors: Option<&'a [Option<Color>]>,
pub radii: Option<&'a [Option<Radius>]>,
pub labels: Option<&'a [Option<Text>]>,
pub keypoint_ids: Option<&'a [Option<KeypointId>]>,
pub class_ids: Option<&'a [Option<ClassId>]>,
}

impl IdentifiedViewSystem for Boxes2DVisualizer {
fn identifier() -> re_viewer_context::ViewSystemIdentifier {
"Boxes2D".into()
Expand All @@ -185,13 +213,47 @@ impl VisualizerSystem for Boxes2DVisualizer {
query: &ViewQuery<'_>,
view_ctx: &ViewContextCollection,
) -> Result<Vec<re_renderer::QueueableDrawData>, SpaceViewSystemExecutionError> {
process_archetype_views::<Boxes2DVisualizer, Boxes2D, { Boxes2D::NUM_COMPONENTS }, _>(
super::entity_iterator::process_archetype_pov1_comp6::<
Boxes2DVisualizer,
Boxes2D,
HalfSizes2D,
Position2D,
Color,
Radius,
Text,
re_types::components::KeypointId,
re_types::components::ClassId,
_,
>(
ctx,
query,
view_ctx,
view_ctx.get::<EntityDepthOffsets>()?.box2d,
|_ctx, ent_path, _ent_props, arch_view, ent_context| {
self.process_arch_view(query, &arch_view, ent_path, ent_context)
view_ctx.get::<EntityDepthOffsets>()?.points,
|_ctx,
ent_path,
_ent_props,
ent_context,
(_time, _row_id),
instance_keys,
half_sizes,
centers,
colors,
radii,
labels,
keypoint_ids,
class_ids| {
let data = Boxes2DComponentData {
instance_keys,
half_sizes,
centers,
colors,
radii,
labels,
keypoint_ids,
class_ids,
};
self.process_data(query, &data, ent_path, ent_context);
Ok(())
},
)?;

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