use re_log_types::Instance;
use re_renderer::{LineDrawableBuilder, PickingLayerInstanceId};
use re_sdk_types::archetypes::Boxes2D;
use re_sdk_types::components::{ClassId, Color, HalfSize2D, Position2D, Radius, ShowLabels};
use re_sdk_types::{Archetype as _, ArrowString};
use re_view::{clamped_or, process_annotation_slices, process_color_slice};
use re_viewer_context::{
IdentifiedViewSystem, QueryContext, ViewContext, ViewContextCollection, ViewQuery,
ViewSystemExecutionError, VisualizerExecutionOutput, VisualizerQueryInfo, VisualizerSystem,
typed_fallback_for,
};
use super::utilities::{LabeledBatch, process_labels};
use super::{SpatialViewVisualizerData, process_radius_slice};
use crate::contexts::SpatialSceneVisualizerInstructionContext;
use crate::view_kind::SpatialViewKind;
use crate::visualizers::UiLabelTarget;
pub struct Boxes2DVisualizer {
pub data: SpatialViewVisualizerData,
}
impl Default for Boxes2DVisualizer {
fn default() -> Self {
Self {
data: SpatialViewVisualizerData::new(Some(SpatialViewKind::TwoD)),
}
}
}
impl Boxes2DVisualizer {
fn process_data<'a>(
&mut self,
ctx: &QueryContext<'_>,
line_builder: &mut LineDrawableBuilder<'_>,
view_query: &ViewQuery<'_>,
ent_context: &SpatialSceneVisualizerInstructionContext<'_>,
data: impl Iterator<Item = Boxes2DComponentData<'a>>,
) {
let entity_path = ctx.target_entity_path;
for data in data {
let num_instances = data.half_sizes.len();
if num_instances == 0 {
continue;
}
let annotation_infos = process_annotation_slices(
view_query.latest_at,
num_instances,
data.class_ids,
&ent_context.annotations,
);
let radii = process_radius_slice(
ctx,
entity_path,
num_instances,
data.radii,
Boxes2D::descriptor_radii().component,
);
let colors = process_color_slice(
ctx,
Boxes2D::descriptor_colors().component,
num_instances,
&annotation_infos,
data.colors,
);
let world_from_obj = ent_context
.transform_info
.single_transform_required_for_entity(entity_path, Boxes2D::name())
.as_affine3a();
let mut line_batch = line_builder
.batch("boxes2d")
.depth_offset(ent_context.depth_offset)
.world_from_obj(world_from_obj)
.outline_mask_ids(ent_context.highlight.overall)
.picking_object_id(re_renderer::PickingLayerObjectId(entity_path.hash64()));
let mut obj_space_bounding_box = macaw::BoundingBox::nothing();
let centers = clamped_or(data.centers, &Position2D::ZERO);
for (i, (half_size, center, radius, &color)) in
itertools::izip!(data.half_sizes, centers, radii, &colors).enumerate()
{
let min = half_size.box_min(*center);
let max = half_size.box_max(*center);
obj_space_bounding_box.extend(min.extend(0.0));
obj_space_bounding_box.extend(max.extend(0.0));
let rectangle = line_batch
.add_rectangle_outline_2d(
min,
glam::vec2(half_size.width(), 0.0),
glam::vec2(0.0, half_size.height()),
)
.color(color)
.radius(radius)
.picking_instance_id(PickingLayerInstanceId(i as _));
if let Some(outline_mask_ids) = ent_context
.highlight
.instances
.get(&Instance::from(i as u64))
{
rectangle.outline_mask_ids(*outline_mask_ids);
}
}
self.data
.add_bounding_box(entity_path.hash(), obj_space_bounding_box, world_from_obj);
self.data.ui_labels.extend(process_labels(
LabeledBatch {
entity_path,
visualizer_instruction: ent_context.visualizer_instruction,
num_instances,
overall_position: UiLabelTarget::Point2D(
<[f32; 2]>::from(obj_space_bounding_box.center().truncate()).into(),
),
instance_positions: data
.half_sizes
.iter()
.copied()
.zip(clamped_or(data.centers, &Position2D::ZERO).copied())
.map(|(half_size, center)| {
let min = half_size.box_min(center);
let max = half_size.box_max(center);
UiLabelTarget::Rect(egui::Rect::from_min_max(
egui::pos2(min.x, min.y),
egui::pos2(max.x, max.y),
))
}),
labels: &data.labels,
colors: &colors,
show_labels: data.show_labels.unwrap_or_else(|| {
typed_fallback_for(ctx, Boxes2D::descriptor_show_labels().component)
}),
annotation_infos: &annotation_infos,
},
std::convert::identity,
));
}
}
}
struct Boxes2DComponentData<'a> {
half_sizes: &'a [HalfSize2D],
centers: &'a [Position2D],
colors: &'a [Color],
radii: &'a [Radius],
labels: Vec<ArrowString>,
class_ids: &'a [ClassId],
show_labels: Option<ShowLabels>,
}
impl IdentifiedViewSystem for Boxes2DVisualizer {
fn identifier() -> re_viewer_context::ViewSystemIdentifier {
"Boxes2D".into()
}
}
impl VisualizerSystem for Boxes2DVisualizer {
fn visualizer_query_info(
&self,
_app_options: &re_viewer_context::AppOptions,
) -> VisualizerQueryInfo {
VisualizerQueryInfo::single_required_component::<HalfSize2D>(
&Boxes2D::descriptor_half_sizes(),
&Boxes2D::all_components(),
)
}
fn execute(
&mut self,
ctx: &ViewContext<'_>,
view_query: &ViewQuery<'_>,
context_systems: &ViewContextCollection,
) -> Result<VisualizerExecutionOutput, ViewSystemExecutionError> {
let output = VisualizerExecutionOutput::default();
let mut line_builder = LineDrawableBuilder::new(ctx.viewer_ctx.render_ctx());
line_builder.radius_boost_in_ui_points_for_outlines(
re_view::SIZE_BOOST_IN_POINTS_FOR_LINE_OUTLINES,
);
use super::entity_iterator::process_archetype;
process_archetype::<Self, Boxes2D, _>(
ctx,
view_query,
context_systems,
&output,
self.data.preferred_view_kind,
|ctx, spatial_ctx, results| {
let all_half_sizes =
results.iter_required(Boxes2D::descriptor_half_sizes().component);
if all_half_sizes.is_empty() {
return Ok(());
}
let num_boxes: usize = all_half_sizes
.chunks()
.iter()
.flat_map(|chunk| chunk.iter_slices::<[f32; 2]>())
.map(|vectors| vectors.len())
.sum();
if num_boxes == 0 {
return Ok(());
}
line_builder.reserve_strips(num_boxes)?;
line_builder.reserve_vertices(num_boxes * 5)?;
let all_centers = results.iter_optional(Boxes2D::descriptor_centers().component);
let all_colors = results.iter_optional(Boxes2D::descriptor_colors().component);
let all_radii = results.iter_optional(Boxes2D::descriptor_radii().component);
let all_labels = results.iter_optional(Boxes2D::descriptor_labels().component);
let all_class_ids =
results.iter_optional(Boxes2D::descriptor_class_ids().component);
let all_show_labels =
results.iter_optional(Boxes2D::descriptor_show_labels().component);
let data = re_query::range_zip_1x6(
all_half_sizes.slice::<[f32; 2]>(),
all_centers.slice::<[f32; 2]>(),
all_colors.slice::<u32>(),
all_radii.slice::<f32>(),
all_labels.slice::<String>(),
all_class_ids.slice::<u16>(),
all_show_labels.slice::<bool>(),
)
.map(
|(
_index,
half_sizes,
centers,
colors,
radii,
labels,
class_ids,
show_labels,
)| {
Boxes2DComponentData {
half_sizes: bytemuck::cast_slice(half_sizes),
centers: centers.map_or(&[], |centers| bytemuck::cast_slice(centers)),
colors: colors.map_or(&[], |colors| bytemuck::cast_slice(colors)),
radii: radii.map_or(&[], |radii| bytemuck::cast_slice(radii)),
labels: labels.unwrap_or_default(),
class_ids: class_ids
.map_or(&[], |class_ids| bytemuck::cast_slice(class_ids)),
show_labels: show_labels
.map(|b| !b.is_empty() && b.value(0))
.map(Into::into),
}
},
);
self.process_data(ctx, &mut line_builder, view_query, spatial_ctx, data);
Ok(())
},
)?;
Ok(output.with_draw_data([(line_builder.into_draw_data()?.into())]))
}
fn data(&self) -> Option<&dyn std::any::Any> {
Some(self.data.as_any())
}
}