cleanin up

crates/re_data_store/src/entity_properties.rs

@@ -102,7 +102,7 @@ impl Default for EntityProperties {
             visible_history: ExtraQueryHistory::default(),
             interactive: true,
             pinhole_image_plane_distance: EditableAutoValue::default(),
-            backproject_depth: true,
+            backproject_depth: false,
             backproject_pinhole_ent_path: None,
             backproject_scale: EditableAutoValue::default(),
             backproject_radius_scale: EditableAutoValue::default(),

crates/re_renderer/examples/depth_cloud.rs

@@ -85,10 +85,7 @@ impl RenderDepthClouds {
             let (points, colors, radii): (Vec<_>, Vec<_>, Vec<_>) = (0..depth.dimensions.y)
                 .flat_map(|y| (0..depth.dimensions.x).map(move |x| glam::UVec2::new(x, y)))
                 .map(|texcoords| {
-                    let linear_depth = depth.get_linear(
-                        depth.dimensions.x - texcoords.x - 1,
-                        depth.dimensions.y - texcoords.y - 1,
-                    );
+                    let linear_depth = depth.get_linear(texcoords.x, texcoords.y);
                     let pos_in_world = ((texcoords.as_vec2() - offset) * linear_depth
                         / focal_length)
                         .extend(linear_depth);
@@ -176,7 +173,7 @@ impl RenderDepthClouds {
         let depth_cloud_draw_data = DepthCloudDrawData::new(
             re_ctx,
             &[DepthCloud {
-                world_from_obj,
+                depth_camera_extrinsics: world_from_obj,
                 depth_camera_intrinsics: *intrinsics,
                 radius_scale: *radius_scale,
                 depth_dimensions: depth.dimensions,

crates/re_renderer/shader/depth_cloud.wgsl

@@ -39,7 +39,7 @@ fn compute_point_data(quad_idx: i32) -> PointData {
         norm_linear_depth,
     );
 
-    let pos_in_world = depth_cloud_info.world_from_obj * Vec4(pos_in_obj, 1.0);
+    let pos_in_world = depth_cloud_info.extrinsincs * Vec4(pos_in_obj, 1.0);
 
     var data: PointData;
     data.pos_in_world = pos_in_world.xyz;
@@ -52,7 +52,8 @@ fn compute_point_data(quad_idx: i32) -> PointData {
 // ---
 
 struct DepthCloudInfo {
-    world_from_obj: Mat4,
+    /// The extrinsincs of the camera used for the projection.
+    extrinsincs: Mat4,
 
     /// The intrinsics of the camera used for the projection.
     ///

crates/re_renderer/src/renderer/depth_cloud.rs

@@ -39,7 +39,7 @@ mod gpu_data {
     #[repr(C, align(256))]
     #[derive(Clone, Copy, bytemuck::Pod, bytemuck::Zeroable)]
     pub struct DepthCloudInfoUBO {
-        pub world_from_obj: crate::wgpu_buffer_types::Mat4,
+        pub depth_camera_extrinsics: crate::wgpu_buffer_types::Mat4,
         pub depth_camera_intrinsics: crate::wgpu_buffer_types::Mat3,
         pub radius_scale: crate::wgpu_buffer_types::F32RowPadded,
 
@@ -65,8 +65,8 @@ pub enum DepthCloudDepthData {
 }
 
 pub struct DepthCloud {
-    // TODO: just call it extrinsics at this point
-    pub world_from_obj: glam::Mat4,
+    /// The extrinsics of the camera used for the projection.
+    pub depth_camera_extrinsics: glam::Mat4,
 
     /// The intrinsics of the camera used for the projection.
     ///
@@ -88,7 +88,7 @@ pub struct DepthCloud {
 impl Default for DepthCloud {
     fn default() -> Self {
         Self {
-            world_from_obj: glam::Mat4::IDENTITY,
+            depth_camera_extrinsics: glam::Mat4::IDENTITY,
             depth_camera_intrinsics: glam::Mat3::IDENTITY,
             radius_scale: 1.0,
             depth_dimensions: glam::UVec2::ZERO,
@@ -135,7 +135,7 @@ impl DepthCloudDrawData {
             ctx,
             "depth_cloud_ubos".into(),
             depth_clouds.iter().map(|info| gpu_data::DepthCloudInfoUBO {
-                world_from_obj: info.world_from_obj.into(),
+                depth_camera_extrinsics: info.depth_camera_extrinsics.into(),
                 depth_camera_intrinsics: info.depth_camera_intrinsics.into(),
                 radius_scale: info.radius_scale.into(),
                 end_padding: Default::default(),

crates/re_viewer/src/ui/selection_panel.rs

@@ -1,7 +1,7 @@
 use egui::NumExt as _;
 use re_data_store::{query_latest_single, EditableAutoValue, EntityPath, EntityProperties};
 use re_log_types::{
-    component_types::{Tensor, TensorDataMeaning},
+    component_types::{Tensor, TensorData, TensorDataMeaning},
     TimeType, Transform,
 };
 
@@ -473,7 +473,9 @@ fn depth_props_ui(
     entity_props.backproject_pinhole_ent_path = Some(pinhole_ent_path.clone());
 
     let tensor = query_latest_single::<Tensor>(&ctx.log_db.entity_db, entity_path, &query);
-    if tensor.map(|t| t.meaning) == Some(TensorDataMeaning::Depth) {
+    if tensor.as_ref().map(|t| t.meaning) == Some(TensorDataMeaning::Depth) {
+        let tensor = tensor.as_ref().unwrap();
+
         ui.checkbox(&mut entity_props.backproject_depth, "Backproject Depth")
             .on_hover_text(
                 "If enabled, the depth texture will be backprojected into a point cloud rather \
@@ -482,8 +484,35 @@ fn depth_props_ui(
         ui.end_row();
 
         if entity_props.backproject_depth {
+            ui.label("Pinhole");
+            ctx.entity_path_button(ui, None, &pinhole_ent_path)
+                .on_hover_text(
+                    "The entity path of the pinhole transform being used to do the backprojection.",
+                );
+            ui.end_row();
+
+            // Compute Auto scale values
+            let mut scale = *entity_props
+                .backproject_scale
+                .or(&re_data_store::EditableAutoValue::Auto(
+                    tensor.meter.map_or_else(
+                        || match &tensor.data {
+                            TensorData::U16(_) => 1.0 / u16::MAX as f32,
+                            _ => 1.0,
+                        },
+                        |meter| match &tensor.data {
+                            TensorData::U16(_) => 1.0 / meter * u16::MAX as f32,
+                            _ => meter,
+                        },
+                    ),
+                ))
+                .get();
+            let mut radius_scale = *entity_props
+                .backproject_radius_scale
+                .or(&re_data_store::EditableAutoValue::Auto(0.02))
+                .get();
+
             ui.label("Backproject scale");
-            let mut scale = *entity_props.backproject_scale.get();
             let speed = (scale * 0.05).at_least(0.01);
             if ui
                 .add(
@@ -499,7 +528,6 @@ fn depth_props_ui(
             ui.end_row();
 
             ui.label("Backproject radius scale");
-            let mut radius_scale = *entity_props.backproject_radius_scale.get();
             let speed = (radius_scale * 0.05).at_least(0.01);
             if ui
                 .add(
@@ -513,13 +541,6 @@ fn depth_props_ui(
                 entity_props.backproject_radius_scale = EditableAutoValue::UserEdited(radius_scale);
             }
             ui.end_row();
-
-            ui.label("Pinhole");
-            ctx.entity_path_button(ui, None, &pinhole_ent_path)
-                .on_hover_text(
-                    "The entity path of the pinhole transform being used to do the backprojection.",
-                );
-            ui.end_row();
         }
     }
 }

crates/re_viewer/src/ui/view_spatial/scene/scene_part/images.rs

@@ -1,7 +1,7 @@
 use std::sync::Arc;
 
 use egui::NumExt;
-use glam::{Vec3, Vec4Swizzles};
+use glam::Vec3;
 use itertools::Itertools;
 
 use re_data_store::{query_latest_single, EntityPath, EntityProperties, InstancePathHash};
@@ -154,15 +154,15 @@ impl ImagesPart {
                 if tensor.meaning == TensorDataMeaning::Depth {
                     if let Some(pinhole_ent_path) = properties.backproject_pinhole_ent_path.as_ref()
                     {
-                        // NOTE: we don't pass `world_from_obj` because this corresponds to the
+                        // NOTE: we don't pass in `world_from_obj` because this corresponds to the
                         // transform of the projection plane, which is of no use to us here.
-                        // What we want are the extrinsics from the depth camera!
+                        // What we want are the extrinsics of the depth camera!
                         Self::process_entity_view_as_depth_cloud(
                             scene,
                             ctx,
                             transforms,
                             properties,
-                            tensor,
+                            &tensor,
                             pinhole_ent_path,
                         );
                         return Ok(());
@@ -263,7 +263,7 @@ impl ImagesPart {
         ctx: &mut ViewerContext<'_>,
         transforms: &TransformCache,
         properties: &EntityProperties,
-        tensor: Tensor,
+        tensor: &Tensor,
         pinhole_ent_path: &EntityPath,
     ) {
         crate::profile_function!();
@@ -285,15 +285,8 @@ impl ImagesPart {
             return;
         };
 
-        // TODO: that's where we derive it if Auto
-        let scale = *properties.backproject_scale.get();
-        let radius_scale = *properties.backproject_radius_scale.get();
-
-        let (h, w) = (tensor.shape()[0].size, tensor.shape()[1].size);
-        let dimensions = glam::UVec2::new(w as _, h as _);
-
-        // TODO(cmc): automagically convert as needed for non-native datatypes?
-        let data = match tensor.data {
+        // TODO(cmc): automagically convert as needed for non-natively supported datatypes?
+        let data = match &tensor.data {
             TensorData::U16(data) => DepthCloudDepthData::U16(data.to_vec()),
             TensorData::F32(data) => DepthCloudDepthData::F32(data.to_vec()),
             _ => {
@@ -305,13 +298,32 @@ impl ImagesPart {
             }
         };
 
-        let world_from_obj = extrinsics * glam::Mat4::from_scale(glam::Vec3::splat(scale));
+        // TODO(cmc): we need access to mutable entity properties from here, because that's where
+        // we need to compute the actual Auto value... but right now we have no way to write it
+        // back :(
+
+        let scale = *properties
+            .backproject_scale
+            .or(&re_data_store::EditableAutoValue::Auto(
+                tensor.meter.map_or(1.0, |meter| match &data {
+                    DepthCloudDepthData::U16(_) => 1.0 / meter * u16::MAX as f32,
+                    DepthCloudDepthData::F32(_) => meter,
+                }),
+            ))
+            .get();
+        let radius_scale = *properties
+            .backproject_radius_scale
+            .or(&re_data_store::EditableAutoValue::Auto(0.02))
+            .get();
 
-        let xxx: glam::Mat3 = intrinsics.image_from_cam.into();
+        let (h, w) = (tensor.shape()[0].size, tensor.shape()[1].size);
+        let dimensions = glam::UVec2::new(w as _, h as _);
+
+        let world_from_obj = extrinsics * glam::Mat4::from_scale(glam::Vec3::splat(scale));
 
         scene.primitives.depth_clouds.push(DepthCloud {
-            world_from_obj,
-            depth_camera_intrinsics: xxx,
+            depth_camera_extrinsics: world_from_obj,
+            depth_camera_intrinsics: intrinsics.image_from_cam.into(),
             radius_scale,
             depth_dimensions: dimensions,
             depth_data: data,