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Consistent transform visualization for all entities with transforms #2577

Merged
merged 26 commits into from
Jul 17, 2023
Merged

Consistent transform visualization for all entities with transforms #2577

merged 26 commits into from
Jul 17, 2023

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Wumpf
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@Wumpf Wumpf commented Jun 30, 2023 •
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Fixes #753. Fixes #2503. Fixes #2269

Adds a new scene part to visualize all transform arrows - decided to avoid the term "gizmo" since gizmos as they are used for manipulating an object (e.g. Blender, Unity3D, Unreal etc.) do have quite different properties in what they need to show and are typically not used to visualize the actual transform.

Introduces two new properties that (like all other object properties) will need to be componetized and be part of the blueprint apis:

  • transform visibility: On by default iff the entity or any of its children has a pinhole transform or if the entity doesn't have any other components than Transform3D
  • transform arrow length: By default a heuristic world bounding box based scale, can be chosen freely per object.

Polished the api_demo#transform_test a little bit to be able to use it as a test case for this:
image

Note in particular that skew & scale works as expected:
image

(this shows two transforms on the same spot, one rotated along x, one scaled along x)
image

Pinhole cameras no longer are hacked to have their private gizmo - clicking it clicks the entity with the transform now, now the pinhole camera (this may be the same, see #2568):
image

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@Wumpf Wumpf added enhancement New feature or request 📺 re_viewer affects re_viewer itself labels Jun 30, 2023
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Wumpf commented Jun 30, 2023

Bit on the fence if making the arrows that thin was a good choice. Might remove the arrow heads now - or make them bigger? On select they almost look nicest. Disabling the color gradient on the other hand seems like a clear win

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emilk commented Jul 3, 2023

Bit on the fence if making the arrows that thin was a good choice. Might remove the arrow heads now - or make them bigger?

Definitely bigger arrow heads. The thickness is good imho.

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emilk commented Jul 4, 2023

I think this also closes #2269

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Wumpf commented Jul 10, 2023

re_renderer lines can now configure those arrow heads (:
image

and it also has a safe guard against arrows that would be longer than the entire line:

Screen.Recording.2023-07-10.at.13.43.49.mov

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Didn't have time for a full review :/ I'll maybe be back on Wednesday

I'm a bit worried about the pinhole-transform-related changes. Make sure you test with tests/python/view_coordinates/main.py

crates/re_data_store/src/entity_properties.rs Outdated Show resolved Hide resolved
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Wumpf commented Jul 11, 2023

I'm a bit worried about the pinhole-transform-related changes.

Having a pass and trying to touch less things. Might be that there's some merge related confusion/problems trickling in 😬

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Looks good (modulo some better naming and comments)!

And the thin arrows looks so much better ❤️

crates/re_viewer/src/ui/selection_panel.rs Outdated Show resolved Hide resolved
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crates/re_viewer/src/ui/selection_panel.rs Outdated Show resolved Hide resolved
crates/re_viewer/src/ui/selection_panel.rs Outdated Show resolved Hide resolved
crates/re_space_view_spatial/src/parts/transform3d_arrows.rs Outdated Show resolved Hide resolved
crates/re_space_view_spatial/src/contexts/transform_context.rs Outdated Show resolved Hide resolved
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@Wumpf Wumpf merged commit 227b49c into main Jul 17, 2023
@Wumpf Wumpf deleted the andreas/transform-gizmos branch July 17, 2023 10:15
This was referenced Jul 26, 2023
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jleibs added a commit that referenced this pull request Jul 27, 2023
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Release 0.8 - Infrastructure investments and more transform improveme…
df05f49 
…nts - 2023-07-27 (#2842)

## [0.8.0](v0.7.0...v0.8.0) -
Infrastructure investments and more transform improvements - 2023-07-27

[Rerun](https://www.rerun.io/) is an easy-to-use visualization toolbox
for computer vision and robotics.

* Python: `pip install rerun-sdk`
* Rust: `cargo add rerun` and `cargo install rerun-cli`
* Online demo: <https://demo.rerun.io/version/0.8.0/>


### Overview & Highlights
- `log_pinhole` is now easier to use in simple cases and supports
non-RDF camera coordinates.
[#2614](#2614)
- You only need to set focal length and optional principal point instead
of setting the full 3x3 matrix.
- There is also a new argument: `camera_xyz` for setting the coordinate
system. The default is RDF (the old
default). This affects the visible camera frustum, how rays are
projected when hovering a 2D image, and how depth
   clouds are projected.
- The visualizer can now show coordinate arrows for all affine
transforms within the view.
[#2577](#2577)
- Linestrips and oriented bounding boxes can now be logged via batch
APIs in python.
- See: `log_linestrips_2d`, `log_linestrips_3d`,
[#2822](#2822) and `log_obbs`
[#2823](#2823)
- Rust users that build their own Viewer applications can now add fully
custom Space Views. Find more information
[here](https://www.rerun.io/docs/howto/extend-ui#custom-space-views-classes).
- New optional `flush_timeout` specifies how long Rerun will wait if a
TCP stream is disconnected during a flush.
[#2821](#2821)
- In Rust, `RecordingStream::connect` now requires `flush_timeout`
specified as an `Option<Duration>`.
- To keep default behavior, this can be specified using the
`rerun::default_flush_time()` helper.
- In Python `flush_init_sec` is now an optional argument to
`rr.connect()`
- In Rust, the `RecordingStream` now offers a stateful time API, similar
to the Python APIs. [#2506](#2506)
- You can now call `set_time_sequence`, `set_time_seconds`, and
`set_time_nanos` directly on the `RecordingStream`,
     which will set the time for all subsequent logs using that stream.
- This can be used as an alternative to the the previous
`MsgSender::with_time` APIs.
- The Rerun SDK now defaults to 8ms long microbatches instead of 50ms.
This makes the default behavior more suitable
for use-cases like real-time video feeds.
[#2220](#2220)
- Check out [the microbatching
docs](https://www.rerun.io/docs/reference/sdk-micro-batching) for more
information
   on fine-tuning the micro-batching behavior.
- The web viewer now incremental loads `.rrd` files when streaming over
HTTP. [#2412](#2412)

![Open Photogrammetry
Preview](https://static.rerun.io/9fa26e73a197690e0403cd35f29e31c2941dea36_release_080_photogrammetry_full.png)

### Ongoing Refactors
- There have been a number of significant internal changes going on
during this release with little visible impact.
This work will land across future releases, but is highlighted here
since much of it is visible through the
   changelog.
- The layout of the Viewer is now controlled by a Blueprint datastore.
In the future this will allow for direct API
control of the layout and configuration of the Viewer. A very early
prototype of this functionality is available
    via the `rerun.experimental` module in Python.
- An entirely new code-generation framework has been brought online for
Rust, Python and C++. This will eventually enable
new object-centric APIs with a more scalable, consistent, and ergonomic
experience.
- Bringup of C++ support is now underway and will eventually become our
third officially supported SDK language.

### Known Regressions
- Due to the Blueprint storage migration, blueprint persistence on web
is currently broken. Will be resolved in:
  [#2579](#2579)

### In Detail
#### 🐍 Python SDK
- Clean up warnings printed when `rr.init` hasn't been called
[#2209](#2209)
- Normalise Python typing syntax to 3.8+
[#2361](#2361)
- Simpler, sturdier stateful time tracking in both SDKs
[#2506](#2506)
- Fix not taking np.array for single colors
[#2569](#2569)
- Add a basic pyright config
[#2610](#2610)
- Improve `log_pinhole` and support non-RDF pinholes
[#2614](#2614)
- Expose batch APIs for linestrips
[#2822](#2822)
- Expose batch APIs for oriented bounding boxes
[#2823](#2823)

#### 🦀 Rust SDK
- Add example for adding custom Space Views
[#2328](#2328)
- Simpler, sturdier stateful time tracking in both SDKs
[#2506](#2506)
- Automagic flush when `take()`ing a `MemorySinkStorage`
[#2632](#2632)
- Logging SDK: Log warnings if user data is dropped
[#2630](#2630)
- Add support for `RecordingStream::serve`
[#2815](#2815)

#### 🌁 Viewer Improvements
- Better handle scroll-to-zoom in 3D views
[#1764](#1764)
- Add command to screenshot the application
[#2293](#2293)
- Show layout in blueprint tree view
[#2465](#2465)
- Double-click to select entity
[#2504](#2504)
- Add Rerun.io link/text in top bar
[#2540](#2540)
- New auto-layout of space views
[#2558](#2558)
- Add 'Dump datastore' command to palette
[#2564](#2564)
- Support any `dtype` for depth images
[#2602](#2602)
- Change "Save Selection" command to Cmd+Alt+S
[#2631](#2631)
- Consistent transform visualization for all entities with transforms
[#2577](#2577)
- Improve `log_pinhole` and support non-RDF pinholes
[#2614](#2614)

#### 🚀 Performance Improvements
- Flush the batches every 8ms instead of 50 ms
[#2220](#2220)
- Replace `image` crate jpeg decoder with zune-jpeg
[#2376](#2376)
- Stream `.rrd` files when loading via http
[#2412](#2412)

#### 🪳 Bug Fixes
- Fix deadlock when misusing the Caches
[#2318](#2318)
- Fix unstable order/flickering of "shown in" space view list on
selection [#2327](#2327)
- Fix transforms not applied to connections from transform context
[#2407](#2407)
- Fix texture clamping and color gradient selection being displayed
incorrectly [#2394](#2394)
- Fix projected ray length
[#2482](#2482)
- Tweak the depth bias multiplier for WebGL
[#2491](#2491)
- Clip image zoom rectangle
[#2505](#2505)
- Fix missing feature flags for benchmarks
[#2515](#2515)
- `run_all.py` script fixes
[#2519](#2519)
- Update egui_tiles with fix for drag-and-drop-panic
[#2555](#2555)
- Convert objectron proto.py back to using typing.List
[#2559](#2559)
- Exclude from `objectron/proto/objectron/proto.py` from `just
py-format` [#2562](#2562)
- Fix pinhole visualization not working with camera extrinsics &
intrinsics on the same path
[#2568](#2568)
- Fix: always auto-layout spaceviews until the user interveens
[#2583](#2583)
- Fix freeze/crash when logging large times
[#2588](#2588)
- Update egui_tiles to fix crash
[#2598](#2598)
- Fix clicking object with single instance (of every component)
selecting instance instead of entity
[#2573](#2573)
- Cleanup internal data-structures when process has been forked
[#2676](#2676)
- Fix shutdown race-condition by introducing a flush_timeout before
dropping data [#2821](#2821)
- Fix ui-scale based point/line sizes incorrectly scaled when zooming
based on horizontal dimension
[#2805](#2805)
- Fix visibility toggle for maximized Space Views
[#2806](#2806)
- Fix loading file via CLI
[#2807](#2807)
- Fix disconnected space APIs in Python SDK
[#2832](#2832)
- Avoid unwrap when generating authkey
[#2804](#2804)

#### 🧑‍🏫 Examples
- Add example template
[#2392](#2392)
- Show hidden url search param in `app.rerun.io`
[#2455](#2455)
- Minimal example of running an intel realsense depth sensor live
[#2541](#2541)
- Add a simple example to display Open Photogrammetry Format datasets
[#2512](#2512)
- Move `examples/api_demo` -> `tests/test_api`
[#2585](#2585)

#### 📚 Docs
- Docs: link to `rr.save` and suggest `rerun` instead of `python -m
rerun` [#2586](#2586)
- Update docs about transforms
[#2496](#2496)
- Fixup remaining usages of log_rigid3 in docs
[#2831](#2831)

#### 🎨 Renderer Improvements
- Expose type erased draw data that can be consumed directly
[#2300](#2300)
- Use less `mut` when using `RenderContext`
[#2312](#2312)

#### 🧑‍💻 Dev-experience
- Better error messages in build.rs
[#2173](#2173)
- Recommend sccache in CONTRIBUTING.md
[#2245](#2245)
- introduce `re_tracing`
[#2283](#2283)
- lint: standardize formatting of let-else-return statements
[#2297](#2297)
- Centralized build tools in `re_build_tools`
[#2331](#2331)
- Lint for explicit quotes
[#2332](#2332)
- Added example screenshot instructions in `just upload --help`
[#2454](#2454)
- Added support for puling image from an URL to `upload_image.py`
[#2462](#2462)
- `setup_dev.sh` now installs pngcrush
[#2470](#2470)
- Added docs/code-examples to the directories checked by py-lint and
py-format [#2476](#2476)
- Link to demo in PR + check checkboxes
[#2543](#2543)
- Add script to find external issues we haven't commented on
[#2532](#2532)
- Move CI-related scripts to its own folder
[#2561](#2561)
- Render PR description as template
[#2563](#2563)
- Add basic testing automation against all version of Python using nox
[#2536](#2536)
- Run clippy on public API too
[#2596](#2596)
- Bump all `py-lint`-related package versions
[#2600](#2600)
- Crates publishing script
[#2604](#2604)
- Fix rust docs deploy
[#2615](#2615)
- Add support for .gitignore to scripts/lint.py
[#2666](#2666)

#### 🗣 Refactors
- Refactor space-view dependencies:
- Move spatial space view to its own crate
[#2286](#2286)
- Separate crate for bar chart space view
[#2322](#2322)
- Separate crate for time series space view
[#2324](#2324)
- Separate crate for tensor space view
[#2334](#2334)
- Separate viewport related files out to a new re_viewport crate
[#2251](#2251)
- Remove timepanel dependency from viewport
[#2256](#2256)
- New trait system for SpaceViews:
- Initial Space View trait & port of text space views to the new Space
View trait system [#2281](#2281)
- Extend/iterate on SpaceViewClass framework with SceneContext & port
SpatialSpaceView scene parts
[#2304](#2304)
- Finalize move of SpatialSpaceView to SpaceViewClass trait framework
[#2311](#2311)
- Typename cleanup in SpaceViewClass framework
[#2321](#2321)
- Automatic fallback for unrecognized Space View Class, start removing
old ViewCategory [#2357](#2357)
- Rename ScenePart -> ViewPartSystem + related renamings
[#2674](#2674)
- Dynamically registered space view (part/context) systems
[#2688](#2688)
- Viewer's command queue is now a channel, allowing to queue commands
without mutable access
[#2339](#2339)
- Break up app.rs into parts
[#2303](#2303)
- Break out `re_log_types::component_types` as `re_components`
[#2258](#2258)
- Introduce StoreHub and rename Recording->Store
[#2301](#2301)
- Move StoreHub out of the Viewer during Update
[#2330](#2330)
- Expand CommandSender to support SystemCommand
[#2344](#2344)
- Use `camino` crate for UTF8 paths in `re_types_builder`
[#2637](#2637)
- Separate 2d & 3d spaceview classes, removal of `ViewCategory`,
`SpaceViewClass` driven spawn heuristics
[#2716](#2716)
- Move object property heuristics to heuristics.rs
[#2764](#2764)

#### 📦 Dependencies
- Version `rand` & friends at workspace level
[#2508](#2508)
- Update to PyO3 0.19
[#2350](#2350)
- Pin `half` to `2.2.1`
[#2587](#2587)

#### 📘 Blueprint Changes
- Drive blueprints off of a DataStore
[#2010](#2010)
- Split SpaceView -> SpaceViewState + SpaceViewBlueprint
[#2188](#2188)
- Split the Blueprint into AppBlueprint and ViewportBlueprint
[#2358](#2358)
- Swap the naming of Viewport and ViewportBlueprint
[#2595](#2595)
- Basic persistence for blueprints
[#2578](#2578)

#### 🏭 New Codegen Framework
- Codegen/IDL 1: add more build tools
[#2362](#2362)
- Codegen/IDL 2: introduce `re_types_builder`
[#2363](#2363)
- Codegen/IDL 3: introduce `re_types`
[#2369](#2369)
- Codegen/IDL 4: definitions for a `Points2D` archetype
[#2370](#2370)
- Codegen/IDL 5: auto-generated Python code for `Points2D`
[#2374](#2374)
- Codegen/IDL 7: handwritten Python tests and extensions for `Points2D`
[#2410](#2410)
- Codegen/IDL 6: auto-generated Rust code for `Points2D`
[#2375](#2375)
- Codegen/IDL 8: handwritten Rust tests and extensions for `Points2D`
[#2432](#2432)
- Codegen'd Rust/Arrow 1: upgrading to actual `TokenStream`s
[#2484](#2484)
- Codegen'd Rust/Arrow 2: matching legacy definitions
[#2485](#2485)
- Codegen'd Rust/Arrow 3: misc fixes & improvements
[#2487](#2487)
- Codegen'd Rust/Arrow 4: out-of-sync definitions CI detection
[#2545](#2545)
- Codegen'd Rust/Arrow 5: doc, definitions and regression tests for
combinatorial affixes
[#2546](#2546)
- Codegen'd Rust/Arrow 6: serialization
[#2549](#2549)
- Codegen'd Rust/Arrow 7: deserialization
[#2554](#2554)
- Codegen'd Rust/Arrow 8: carry extension metadata across transparency
layers [#2570](#2570)
- Codegen'd Rust/Arrow 9: Rust backport!
[#2571](#2571)
- End-to-end cross-language roundtrip tests for our archetypes
[#2601](#2601)
- Automatically derive `Debug` and `Clone` in Rust backend
[#2613](#2613)
- Generating (de)serialization code for dense unions in Rust backend
[#2626](#2626)
- Fix `FixedSizeList` deserialization edge-case + trivial optimizations
[#2673](#2673)
- Make `Datatype` & `Component` both inherit from `Loggable`
[#2677](#2677)
- Roundtrip-able `Transform3D`s
[#2669](#2669)
- Don't inline recursive datatypes in Rust backend
[#2760](#2760)
- Automatically derive `tuple_struct` attr and trivial `From` impls
where possible [#2772](#2772)
- Introduce roundtrip-able `Points3D` archetype (py + rs)
[#2774](#2774)
- Add `fmt::Debug` implementations to various types.
[#2784](#2784) (thanks
[@kpreid](https://github.com/kpreid)!)
- Isolate testing types in Rust backend
[#2810](#2810)
- Fix out-of-sync codegen hash
[#2567](#2567)
- Python backport: add `log_any()`
[#2581](#2581)
- Integrate unit examples into codegen stack
[#2590](#2590)
- Disable codegen on windows
[#2592](#2592)
- Python codegen: big cleaning and paving the way towards transforms
[#2603](#2603)
- Automatically assume arrow transparency for components
[#2608](#2608)
- Fix wrong path being `rerun_if_changed()` in `compute_dir_hash`
[#2612](#2612)
- Support transparency at the semantic layer
[#2611](#2611)
- Don't use builtin `required` anymore, introduce `nullable` instead
[#2619](#2619)
- Rust codegen: generate proper docstrings
[#2668](#2668)
- Support nullable Arrow unions using virtual union arms
[#2708](#2708)
- Introduce support for querying Archetypes
[#2743](#2743)
- Introduce legacy shims and migrate DataCell to re_types::Component
[#2752](#2752)

#### 🌊 Starting work on C++
- Seed of C and C++ SDKs
[#2594](#2594)
- Move C++ SDK to own folder
[#2624](#2624)
- C++ codegen [#2678](#2678)
- C++ codegen for reporting arrow data type for structs
[#2756](#2756)
- Don't inline recursive datatypes in C++ backend
[#2765](#2765)
- C++ codegen to_arrow_data_type for unions
[#2766](#2766)
- C++ codegen arrow serialize non-union components/datatypes without
nested rerun types [#2820](#2820)
- C++ codegen of structs and unions
[#2707](#2707)
- Fix cpp formatter differences
[#2773](#2773)

#### 🤷‍♂️ Other
- test_api: set different app_id based on what test is run
[#2599](#2599)
- Introduce `rerun compare` to check whether 2 rrd files are
functionally equivalent
[#2597](#2597)
- Remove `files.exclude` in vscode settings
[#2621](#2621)
- Support feature-gated rust attributes
[#2813](#2813)

### Checklist
* [x] I have read and agree to [Contributor
Guide](https://github.com/rerun-io/rerun/blob/main/CONTRIBUTING.md) and
the [Code of
Conduct](https://github.com/rerun-io/rerun/blob/main/CODE_OF_CONDUCT.md)
* [x] I've included a screenshot or gif (if applicable)
* [x] I have tested [demo.rerun.io](https://demo.rerun.io/pr/2842) (if
applicable)

- [PR Build Summary](https://build.rerun.io/pr/2842)
- [Docs preview](https://rerun.io/preview/pr%3Arelease-0.8/docs)
- [Examples preview](https://rerun.io/preview/pr%3Arelease-0.8/examples)
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