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voxel51 · May 24, 2024 · 7235ab5 · 7235ab5
1 parent 057b56d
commit 7235ab5
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Showing 4 changed files with 29 additions and 68 deletions.
diff --git a/app/packages/looker/src/overlays/detection.ts b/app/packages/looker/src/overlays/detection.ts
@@ -21,6 +21,7 @@ export interface DetectionLabel extends RegularLabel {
   dimensions?: [number, number, number];
   location?: [number, number, number];
   rotation?: [number, number, number];
+  convexHull?: Coordinates[];
 }
 
 export default class DetectionOverlay<

diff --git a/app/packages/looker/src/worker/label-3d-projection-utils.test.ts b/app/packages/looker/src/worker/label-3d-projection-utils.test.ts
@@ -1,11 +1,5 @@
 import { describe, expect, it } from "vitest";
-import {
-  BoundingBox3D,
-  Vec3,
-  getBoundingBox2D,
-  projectTo2D,
-  rotatePoint,
-} from "./label-3d-projection-utils";
+import { Vec3, projectTo2D, rotatePoint } from "./label-3d-projection-utils";
 
 describe("rotatePoint", () => {
   it("should correctly rotate a point around the origin - y axis", () => {
@@ -80,56 +74,3 @@ describe("projectTo2D", () => {
     expect(projectedPoint).toEqual([2, 3]);
   });
 });
-
-describe.skip("getBoundingBox2D", () => {
-  it("should project a 3D bounding box to a 2D plane (xy) with no rotation", () => {
-    const box3D: BoundingBox3D = {
-      dimensions: [2, 3, 4],
-      location: [1, 2, 3],
-      rotation: [0, 0, 0],
-    };
-
-    const projectedBox = getBoundingBox2D(box3D, "xy");
-
-    expect(projectedBox).toEqual({
-      tlx: 1,
-      tly: 2,
-      width: 2,
-      height: 3,
-    });
-  });
-
-  it("should project a 3D bounding box to a 2D plane (xy) with no rotation arobnd origin", () => {
-    const box: BoundingBox3D = {
-      dimensions: [2, 1, 3],
-      location: [0, 0, 0],
-      rotation: [0, 0, 0],
-    };
-
-    const boundingBox = getBoundingBox2D(box, "xz");
-
-    expect(boundingBox).toEqual({
-      tlx: 0,
-      tly: 0,
-      width: 2,
-      height: 3,
-    });
-  });
-
-  it("should project a rotated 3D bounding box to a 2D plane (xy)", () => {
-    const box: BoundingBox3D = {
-      dimensions: [2, 1, 3],
-      location: [0, 0, 0],
-      rotation: [Math.PI / 2, 0, 0], // 90 degree rotation on X axis
-    };
-
-    const boundingBox = getBoundingBox2D(box, "xy");
-
-    expect(boundingBox).toEqual({
-      tlx: 0,
-      tly: 0,
-      width: 3,
-      height: 2,
-    });
-  });
-});
diff --git a/app/packages/looker/src/worker/label-3d-projection-utils.ts b/app/packages/looker/src/worker/label-3d-projection-utils.ts
@@ -54,7 +54,7 @@ export const projectTo2D = (point: Vec3, plane: "xz" | "xy" | "yz"): Vec2 => {
   }
 };
 
-export const getBoundingBox2D = (
+export const getProjectedCorners = (
   box: BoundingBox3D,
   plane: "xz" | "xy" | "yz"
 ) => {

diff --git a/app/packages/looker/src/worker/threed-label-processor.ts b/app/packages/looker/src/worker/threed-label-processor.ts
@@ -3,7 +3,10 @@ import ch from "monotone-convex-hull-2d";
 import { POINTCLOUD_OVERLAY_PADDING } from "../constants";
 import { DetectionLabel } from "../overlays/detection";
 import { OrthogrpahicProjectionMetadata, Sample } from "../state";
-import { BoundingBox3D, getBoundingBox2D } from "./label-3d-projection-utils";
+import {
+  BoundingBox3D,
+  getProjectedCorners,
+} from "./label-3d-projection-utils";
 import { mapId } from "./shared";
 
 type DetectionsLabel = {
@@ -206,21 +209,37 @@ const PainterFactory3D = (
       projectionPlane = "xy";
     }
 
-    const { projectedCorners } = getBoundingBox2D(box, projectionPlane);
+    const { projectedCorners } = getProjectedCorners(box, projectionPlane);
+
+    const xRange = xmax - xmin;
+    const yRange = ymax - ymin;
+    const zRange = zmax - zmin;
 
-    // map projected corners
     const newProjectedCorners = projectedCorners.map(([x, y]) => {
-      const px = (x - xmin) / (xmax - xmin);
-      const py = (ymax - y) / (ymax - ymin);
+      let px, py;
+
+      // todo: need to account for negative / positive normals
+      switch (projectionPlane) {
+        case "xy":
+          px = (x - xmin) / xRange;
+          py = (ymax - y) / yRange;
+          break;
+        case "xz":
+          px = (x - xmin) / xRange;
+          py = (zmax - y) / zRange;
+          break;
+        case "yz":
+          px = (y - ymin) / yRange;
+          py = (zmax - x) / zRange;
+          break;
+      }
       return [px, py];
     });
 
     const convexHullIndices = ch(newProjectedCorners);
 
     const convexHull = convexHullIndices.map((i) => newProjectedCorners[i]);
 
-    // sort convex hull points in clockwise order
-
     label.convexHull = convexHull;
   },
 });