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Cached 2D & 3D line clouds #5083

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merged 2 commits into from
Feb 7, 2024
Merged

Cached 2D & 3D line clouds #5083

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616d88a
cached 2D line clouds
teh-cmc Feb 7, 2024
aa3fffd
cached 3D line clouds
teh-cmc Feb 7, 2024
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140 changes: 88 additions & 52 deletions crates/re_space_view_spatial/src/visualizers/lines2d.rs
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
use re_entity_db::{EntityPath, InstancePathHash};
use re_query::{ArchetypeView, QueryError};
use re_renderer::PickingLayerInstanceId;
use re_types::{
archetypes::LineStrips2D,
components::{LineStrip2D, Text},
components::{ClassId, Color, InstanceKey, KeypointId, LineStrip2D, Radius, Text},
};
use re_viewer_context::{
ApplicableEntities, IdentifiedViewSystem, ResolvedAnnotationInfos,
Expand All @@ -13,15 +13,12 @@ use re_viewer_context::{
use crate::{
contexts::{EntityDepthOffsets, SpatialSceneEntityContext},
view_kind::SpatialSpaceViewKind,
visualizers::{
entity_iterator::process_archetype_views, process_colors, process_radii, UiLabel,
UiLabelTarget,
},
visualizers::{UiLabel, UiLabelTarget},
};

use super::{
filter_visualizable_2d_entities, picking_id_from_instance_key, process_annotations,
SpatialViewVisualizerData,
filter_visualizable_2d_entities, process_annotation_and_keypoint_slices, process_color_slice,
process_radius_slice, SpatialViewVisualizerData,
};

pub struct Lines2DVisualizer {
Expand All @@ -41,15 +38,16 @@ impl Default for Lines2DVisualizer {

impl Lines2DVisualizer {
fn process_labels<'a>(
arch_view: &'a ArchetypeView<LineStrips2D>,
strips: &'a [LineStrip2D],
labels: &'a [Option<Text>],
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::<LineStrip2D>()?,
arch_view.iter_optional_component::<Text>()?,
strips,
labels,
colors,
instance_path_hashes,
)
Expand All @@ -65,6 +63,7 @@ impl Lines2DVisualizer {
.map(glam::Vec2::from)
.sum::<glam::Vec2>()
/ (strip.0.len() as f32);

Some(UiLabel {
text: label,
color: *color,
Expand All @@ -75,45 +74,52 @@ impl Lines2DVisualizer {
_ => None,
}
},
);
Ok(labels)
)
}

fn process_arch_view(
fn process_data(
&mut self,
query: &ViewQuery<'_>,
arch_view: &ArchetypeView<LineStrips2D>,
data: &Lines2DComponentData<'_>,
ent_path: &EntityPath,
ent_context: &SpatialSceneEntityContext<'_>,
) -> Result<(), QueryError> {
let annotation_infos = process_annotations::<LineStrip2D, LineStrips2D>(
query,
arch_view,
) {
let (annotation_infos, _) = process_annotation_and_keypoint_slices(
query.latest_at,
data.instance_keys,
data.keypoint_ids,
data.class_ids,
data.strips.iter().map(|_| glam::Vec3::ZERO),
&ent_context.annotations,
)?;
);

let radii = process_radius_slice(data.radii, data.strips.len(), ent_path);
let colors = process_color_slice(data.colors, ent_path, &annotation_infos);

let colors = process_colors(arch_view, ent_path, &annotation_infos)?;
let radii = process_radii(arch_view, ent_path)?;
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(
data.strips,
labels,
&instance_path_hashes_for_picking,
&colors,
&annotation_infos,
));
}
}

let mut line_builder = ent_context.shared_render_builders.lines();
Expand All @@ -124,39 +130,43 @@ impl Lines2DVisualizer {
.outline_mask_ids(ent_context.highlight.overall)
.picking_object_id(re_renderer::PickingLayerObjectId(ent_path.hash64()));

let instance_keys = arch_view.iter_instance_keys();
let pick_ids = arch_view
.iter_instance_keys()
.map(picking_id_from_instance_key);
let strips = arch_view.iter_required_component::<LineStrip2D>()?;

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

for (instance_key, strip, radius, color, pick_id) in
itertools::izip!(instance_keys, strips, radii, colors, pick_ids)
for (instance_key, strip, radius, color) in
itertools::izip!(data.instance_keys, data.strips, radii, colors)
{
let lines = line_batch
.add_strip_2d(strip.0.iter().copied().map(Into::into))
.color(color)
.radius(radius)
.picking_instance_id(pick_id);
.picking_instance_id(PickingLayerInstanceId(instance_key.0));

if let Some(outline_mask_ids) = ent_context.highlight.instances.get(&instance_key) {
if let Some(outline_mask_ids) = ent_context.highlight.instances.get(instance_key) {
lines.outline_mask_ids(*outline_mask_ids);
}

for p in strip.0 {
for p in &strip.0 {
bounding_box.extend(glam::vec3(p.x(), p.y(), 0.0));
}
}

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

Ok(())
}
}

// ---

struct Lines2DComponentData<'a> {
pub instance_keys: &'a [InstanceKey],
pub strips: &'a [LineStrip2D],
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 Lines2DVisualizer {
fn identifier() -> re_viewer_context::ViewSystemIdentifier {
"Lines2D".into()
Expand All @@ -183,18 +193,44 @@ impl VisualizerSystem for Lines2DVisualizer {
query: &ViewQuery<'_>,
view_ctx: &ViewContextCollection,
) -> Result<Vec<re_renderer::QueueableDrawData>, SpaceViewSystemExecutionError> {
process_archetype_views::<
super::entity_iterator::process_archetype_pov1_comp5::<
Lines2DVisualizer,
LineStrips2D,
{ LineStrips2D::NUM_COMPONENTS },
LineStrip2D,
Color,
Radius,
Text,
KeypointId,
ClassId,
_,
>(
ctx,
query,
view_ctx,
view_ctx.get::<EntityDepthOffsets>()?.points,
|_ctx, ent_path, _ent_props, arch_view, ent_context| {
self.process_arch_view(query, &arch_view, ent_path, ent_context)
|_ctx,
ent_path,
_ent_props,
ent_context,
(_time, _row_id),
instance_keys,
strips,
colors,
radii,
labels,
keypoint_ids,
class_ids| {
let data = Lines2DComponentData {
instance_keys,
strips,
colors,
radii,
labels,
keypoint_ids,
class_ids,
};
self.process_data(query, &data, ent_path, ent_context);
Ok(())
},
)?;

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