Option to show scene bounding box (#1770)

* Include depth clouds in bounding box calculation

* Don't wrap text when showing bbox in ui

* Handle projective transforms

* Nicer selection view: don't wrap second column too early

* Add checkbox to show the scene bounding box

Author: emilk

crates/re_renderer/src/renderer/depth_cloud.rs

@@ -166,6 +166,37 @@ pub struct DepthCloud {
     pub outline_mask_id: OutlineMaskPreference,
 }
 
+impl DepthCloud {
+    /// World-space bounding-box.
+    pub fn bbox(&self) -> macaw::BoundingBox {
+        let max_depth = self.max_depth_in_world;
+        let w = self.depth_dimensions.x as f32;
+        let h = self.depth_dimensions.y as f32;
+        let corners = [
+            glam::Vec3::ZERO, // camera origin
+            glam::Vec3::new(0.0, 0.0, max_depth),
+            glam::Vec3::new(0.0, h, max_depth),
+            glam::Vec3::new(w, 0.0, max_depth),
+            glam::Vec3::new(w, h, max_depth),
+        ];
+
+        let intrinsics = self.depth_camera_intrinsics;
+        let focal_length = glam::vec2(intrinsics.col(0).x, intrinsics.col(1).y);
+        let offset = intrinsics.col(2).truncate();
+
+        let mut bbox = macaw::BoundingBox::nothing();
+
+        for corner in corners {
+            let depth = corner.z;
+            let pos_in_obj = ((corner.truncate() - offset) * depth / focal_length).extend(depth);
+            let pos_in_world = self.world_from_obj.project_point3(pos_in_obj);
+            bbox.extend(pos_in_world);
+        }
+
+        bbox
+    }
+}
+
 pub struct DepthClouds {
     pub clouds: Vec<DepthCloud>,
     pub radius_boost_in_ui_points_for_outlines: f32,

crates/re_ui/src/lib.rs

@@ -480,11 +480,13 @@ impl ReUi {
         .inner
     }
 
-    /// Grid to be used in selection view.
+    /// Two-column grid to be used in selection view.
     #[allow(clippy::unused_self)]
     pub fn selection_grid(&self, ui: &mut egui::Ui, id: &str) -> egui::Grid {
         // Spread rows a bit to make it easier to see the groupings
-        egui::Grid::new(id).spacing(ui.style().spacing.item_spacing + egui::vec2(0.0, 8.0))
+        egui::Grid::new(id)
+            .num_columns(2)
+            .spacing(ui.style().spacing.item_spacing + egui::vec2(0.0, 8.0))
     }
 
     /// Draws a shadow into the given rect with the shadow direction given from dark to light

crates/re_viewer/src/ui/view_spatial/scene/primitives.rs

@@ -93,7 +93,7 @@ impl SceneSpatialPrimitives {
             line_strips,
             points,
             meshes,
-            depth_clouds: _, // no bbox for depth clouds
+            depth_clouds,
             any_outlines: _,
         } = self;
 
@@ -133,6 +133,10 @@ impl SceneSpatialPrimitives {
             *bounding_box =
                 bounding_box.union(mesh.mesh.bbox().transform_affine3(&mesh.world_from_mesh));
         }
+
+        for cloud in &depth_clouds.clouds {
+            *bounding_box = bounding_box.union(cloud.bbox());
+        }
     }
 
     pub fn mesh_instances(&self) -> Vec<MeshInstance> {

crates/re_viewer/src/ui/view_spatial/ui.rs

@@ -347,13 +347,15 @@ impl ViewSpatialState {
                         });
                     });
                     ui.checkbox(&mut self.state_3d.show_axes, "Show origin axes").on_hover_text("Show X-Y-Z axes");
+                    ui.checkbox(&mut self.state_3d.show_bbox, "Show bounding box").on_hover_text("Show the current scene bounding box");
                 });
                 ui.end_row();
             }
 
             ctx.re_ui.grid_left_hand_label(ui, "Bounding box")
                 .on_hover_text("The bounding box encompassing all Entities in the view right now.");
             ui.vertical(|ui| {
+                ui.style_mut().wrap = Some(false);
                 let BoundingBox { min, max } = self.scene_bbox;
                 ui.label(format!(
                     "x [{} - {}]",

crates/re_viewer/src/ui/view_spatial/ui_3d.rs

@@ -56,6 +56,7 @@ pub struct View3DState {
     // options:
     pub spin: bool,
     pub show_axes: bool,
+    pub show_bbox: bool,
 
     #[serde(skip)]
     last_eye_interact_time: f64,
@@ -77,6 +78,7 @@ impl Default for View3DState {
             hovered_point: Default::default(),
             spin: false,
             show_axes: false,
+            show_bbox: false,
             last_eye_interact_time: f64::NEG_INFINITY,
             space_specs: Default::default(),
             space_camera: Default::default(),
@@ -549,6 +551,26 @@ pub fn view_3d(
         );
     }
 
+    if state.state_3d.show_bbox {
+        let bbox = scene.primitives.bounding_box();
+        if bbox.is_something() && bbox.is_finite() {
+            let scale = bbox.size();
+            let translation = bbox.center();
+            let bbox_from_unit_cube = glam::Affine3A::from_scale_rotation_translation(
+                scale,
+                Default::default(),
+                translation,
+            );
+            scene
+                .primitives
+                .line_strips
+                .batch("scene_bbox")
+                .add_box_outline(bbox_from_unit_cube)
+                .radius(Size::AUTO)
+                .color(egui::Color32::WHITE);
+        }
+    }
+
     {
         let orbit_center_alpha = egui::remap_clamp(
             ui.input(|i| i.time) - state.state_3d.last_eye_interact_time,

crates/re_viewer/src/ui/view_text/ui.rs

@@ -37,43 +37,40 @@ impl ViewTextState {
             row_log_levels,
         } = &mut self.filters;
 
-        re_ui
-            .selection_grid(ui, "log_config")
-            .num_columns(2)
-            .show(ui, |ui| {
-                re_ui.grid_left_hand_label(ui, "Columns");
-                ui.vertical(|ui| {
-                    for (timeline, visible) in col_timelines {
-                        ui.checkbox(visible, timeline.name().to_string());
-                    }
-                    ui.checkbox(col_entity_path, "Entity path");
-                    ui.checkbox(col_log_level, "Log level");
-                });
-                ui.end_row();
+        re_ui.selection_grid(ui, "log_config").show(ui, |ui| {
+            re_ui.grid_left_hand_label(ui, "Columns");
+            ui.vertical(|ui| {
+                for (timeline, visible) in col_timelines {
+                    ui.checkbox(visible, timeline.name().to_string());
+                }
+                ui.checkbox(col_entity_path, "Entity path");
+                ui.checkbox(col_log_level, "Log level");
+            });
+            ui.end_row();
 
-                re_ui.grid_left_hand_label(ui, "Entity Filter");
-                ui.vertical(|ui| {
-                    for (entity_path, visible) in row_entity_paths {
-                        ui.checkbox(visible, &entity_path.to_string());
-                    }
-                });
-                ui.end_row();
+            re_ui.grid_left_hand_label(ui, "Entity Filter");
+            ui.vertical(|ui| {
+                for (entity_path, visible) in row_entity_paths {
+                    ui.checkbox(visible, &entity_path.to_string());
+                }
+            });
+            ui.end_row();
 
-                re_ui.grid_left_hand_label(ui, "Level Filter");
-                ui.vertical(|ui| {
-                    for (log_level, visible) in row_log_levels {
-                        ui.checkbox(visible, level_to_rich_text(ui, log_level));
-                    }
-                });
-                ui.end_row();
+            re_ui.grid_left_hand_label(ui, "Level Filter");
+            ui.vertical(|ui| {
+                for (log_level, visible) in row_log_levels {
+                    ui.checkbox(visible, level_to_rich_text(ui, log_level));
+                }
+            });
+            ui.end_row();
 
-                re_ui.grid_left_hand_label(ui, "Text style");
-                ui.vertical(|ui| {
-                    ui.radio_value(&mut self.monospace, false, "Proportional");
-                    ui.radio_value(&mut self.monospace, true, "Monospace");
-                });
-                ui.end_row();
+            re_ui.grid_left_hand_label(ui, "Text style");
+            ui.vertical(|ui| {
+                ui.radio_value(&mut self.monospace, false, "Proportional");
+                ui.radio_value(&mut self.monospace, true, "Monospace");
             });
+            ui.end_row();
+        });
     }
 }