Add option to specify target_frame to SpatialInformation

Author: grtlr

crates/store/re_types/definitions/rerun/blueprint/archetypes/spatial_information.fbs

@@ -4,6 +4,11 @@ namespace rerun.blueprint.archetypes;
 table SpatialInformation (
     "attr.rerun.scope": "blueprint"
 ) {
+  /// The target reference frame for all transformations.
+  ///
+  /// Defaults to the coordinate frame used by the space origin entity.
+  target_frame: rerun.components.TransformFrameId ("attr.rerun.component_optional", order: 50);
+
   /// Whether axes should be shown at the origin.
   show_axes: rerun.blueprint.components.Enabled ("attr.rerun.component_optional", nullable, order: 100);
 

crates/store/re_types/src/blueprint/archetypes/spatial_information.rs

@@ -46,8 +46,8 @@ use re_types::components::{
     AggregationPolicy, AlbedoFactor, AxisLength, Color, DepthMeter, DrawOrder, FillMode, FillRatio,
     GammaCorrection, GraphType, ImagePlaneDistance, LinearSpeed, MagnificationFilter, MarkerSize,
     Name, Opacity, Position2D, Position3D, Range1D, Scale3D, SeriesVisible, ShowLabels,
-    StrokeWidth, Text, Timestamp, TransformRelation, Translation3D, ValueRange, Vector3D,
-    VideoCodec, Visible,
+    StrokeWidth, Text, Timestamp, TransformFrameId, TransformRelation, Translation3D, ValueRange,
+    Vector3D, VideoCodec, Visible,
 };
 use re_viewer_context::gpu_bridge::colormap_edit_or_view_ui;
 
@@ -118,6 +118,7 @@ pub fn create_component_ui_registry() -> re_viewer_context::ComponentUiRegistry
     registry.add_multiline_edit_or_view::<Text>(edit_multiline_string);
     registry.add_singleline_edit_or_view::<Name>(edit_singleline_string);
     registry.add_multiline_edit_or_view::<Name>(edit_multiline_string);
+    registry.add_singleline_edit_or_view::<TransformFrameId>(edit_singleline_string);
 
     // Enums:
     // TODO(#6974): Enums editors trivial and always the same, provide them automatically!

crates/store/re_types/src/reflection/mod.rs

@@ -7,7 +7,7 @@ use re_renderer::DepthOffset;
 use re_types::ViewClassIdentifier;
 use re_view::AnnotationSceneContext;
 use re_viewer_context::{Annotations, ViewClassRegistryError};
-pub use transform_tree_context::{TransformInfo, TransformTreeContext};
+pub use transform_tree_context::{TransformInfo, TransformTreeContext, UNKNOWN_SPACE_ORIGIN};
 
 /// Context objects for a single entity in a spatial scene.
 pub struct SpatialSceneEntityContext<'a> {

crates/viewer/re_component_ui/src/lib.rs

@@ -5,16 +5,23 @@ use re_chunk_store::LatestAtQuery;
 use re_log_types::{EntityPath, EntityPathHash};
 use re_tf::{TransformFrameId, TransformFrameIdHash, TreeTransform};
 use re_types::components::ImagePlaneDistance;
-use re_types::{ArchetypeName, archetypes};
+use re_types::{ArchetypeName, archetypes, blueprint};
 use re_view::{DataResultQuery as _, latest_at_with_blueprint_resolved_data};
 use re_viewer_context::{
     DataResult, IdentifiedViewSystem, TransformDatabaseStoreCache, ViewContext, ViewContextSystem,
     ViewContextSystemOncePerFrameResult, typed_fallback_for,
 };
+use re_viewport_blueprint::ViewProperty;
 use vec1::smallvec_v1::SmallVec1;
 
 type FrameIdMapping = IntMap<TransformFrameIdHash, TransformFrameId>;
 
+/// Currently, there is no straightforward way to retrieve the space origin
+/// when registering fallbacks. So, if unknown we set the target frame to a
+/// dummy string and rely on the view to supply that information after the
+/// first frame.
+pub const UNKNOWN_SPACE_ORIGIN: &str = "<unknown space origin>";
+
 /// Details on how to transform an entity (!) to the origin of the view's space.
 #[derive(Clone, Debug, PartialEq)]
 pub struct TransformInfo {
@@ -186,8 +193,35 @@ impl ViewContextSystem for TransformTreeContext {
         // Currently, we don't keep it around during the frame, but we may do so in the future.
         self.entity_transform_id_mapping = EntityTransformIdMapping::new(ctx, query);
 
-        // Target frame is the coordinate frame of the space origin entity.
-        self.target_frame = self.transform_frame_id_for(query.space_origin.hash());
+        // Target frame - check for blueprint override first, otherwise use space origin's coordinate frame.
+        self.target_frame = {
+            let spatial_info_prop = ViewProperty::from_archetype::<
+                blueprint::archetypes::SpatialInformation,
+            >(
+                ctx.blueprint_db(), ctx.blueprint_query(), ctx.view_id
+            );
+
+            let target_frame_component = spatial_info_prop
+                .component_or_fallback::<TransformFrameId>(
+                    ctx,
+                    blueprint::archetypes::SpatialInformation::descriptor_target_frame().component,
+                );
+
+            match target_frame_component {
+                Ok(target_frame) => {
+                    let target_frame_str = target_frame.as_str();
+                    if target_frame_str == UNKNOWN_SPACE_ORIGIN {
+                        self.transform_frame_id_for(query.space_origin.hash())
+                    } else {
+                        TransformFrameIdHash::from_str(target_frame.as_str())
+                    }
+                }
+                Err(err) => {
+                    re_log::error_once!("Failed to query target frame: {err}");
+                    self.transform_frame_id_for(query.space_origin.hash())
+                }
+            }
+        };
 
         let latest_at_query = query.latest_at_query();
 

crates/viewer/re_view_spatial/src/contexts/mod.rs

@@ -63,6 +63,10 @@ pub struct SpatialViewState {
     pub pinhole_at_origin: Option<Pinhole>,
 
     pub visual_bounds_2d: Option<VisualBounds2D>,
+
+    /// The target frame, i.e., the coordinate frame that transforms are resolved to.
+    /// Computed from the space origin via the transform tree.
+    pub target_frame: Option<String>,
 }
 
 impl ViewState for SpatialViewState {

crates/viewer/re_view_spatial/src/contexts/transform_tree_context.rs

@@ -10,7 +10,7 @@ use re_viewer_context::{
     ViewSpawnHeuristics, ViewState, ViewStateExt as _, ViewSystemExecutionError, ViewerContext,
 };
 
-use crate::contexts::register_spatial_contexts;
+use crate::contexts::{TransformTreeContext, register_spatial_contexts};
 use crate::heuristics::default_visualized_entities_for_visualizer_kind;
 use crate::max_image_dimension_subscriber::{ImageTypes, MaxDimensions};
 use crate::shared_fallbacks;
@@ -255,6 +255,11 @@ impl ViewClass for SpatialView2D {
         let state = state.downcast_mut::<SpatialViewState>()?;
         state.update_frame_statistics(ui, &system_output, SpatialViewKind::TwoD);
 
+        // Store the target frame for display in the selection panel
+        if let Ok(transforms) = system_output.context_systems.get::<TransformTreeContext>() {
+            state.target_frame = Some(transforms.format_frame(transforms.target_frame()));
+        }
+
         self.view_2d(ctx, ui, state, query, system_output)
     }
 }

crates/viewer/re_view_spatial/src/ui.rs

@@ -4,7 +4,7 @@ use itertools::Itertools as _;
 use nohash_hasher::IntSet;
 use re_entity_db::EntityDb;
 use re_log_types::EntityPath;
-use re_tf::query_view_coordinates;
+use re_tf::{TransformFrameId, query_view_coordinates};
 use re_types::blueprint::archetypes::{Background, EyeControls3D, LineGrid3D, SpatialInformation};
 use re_types::blueprint::components::Eye3DKind;
 use re_types::components::{LinearSpeed, Plane3D, Position3D, Vector3D};
@@ -22,7 +22,7 @@ use re_viewer_context::{
 };
 use re_viewport_blueprint::ViewProperty;
 
-use crate::contexts::register_spatial_contexts;
+use crate::contexts::{TransformTreeContext, UNKNOWN_SPACE_ORIGIN, register_spatial_contexts};
 use crate::heuristics::default_visualized_entities_for_visualizer_kind;
 use crate::shared_fallbacks;
 use crate::spatial_topology::{HeuristicHints, SpatialTopology, SubSpaceConnectionFlags};
@@ -244,6 +244,24 @@ impl ViewClass for SpatialView3D {
             },
         );
 
+        system_registry.register_fallback_provider(
+            SpatialInformation::descriptor_target_frame().component,
+            |ctx| {
+                let unknown_space_origin = || TransformFrameId(UNKNOWN_SPACE_ORIGIN.into());
+
+                let Ok(state) = ctx.view_state().downcast_ref::<SpatialViewState>() else {
+                    return unknown_space_origin();
+                };
+
+                // Return the computed target frame from the view state
+                state
+                    .target_frame
+                    .as_ref()
+                    .map(|frame_str| TransformFrameId(frame_str.clone().into()))
+                    .unwrap_or_else(unknown_space_origin)
+            },
+        );
+
         shared_fallbacks::register_fallbacks(system_registry);
 
         // Ensure spatial topology is registered.
@@ -508,10 +526,10 @@ impl ViewClass for SpatialView3D {
 
         re_ui::list_item::list_item_scope(ui, "spatial_view3d_selection_ui", |ui| {
             let view_ctx = self.view_context(ctx, view_id, state);
+            view_property_ui::<SpatialInformation>(&view_ctx, ui);
             view_property_ui::<EyeControls3D>(&view_ctx, ui);
             view_property_ui::<Background>(&view_ctx, ui);
             view_property_ui_grid3d(&view_ctx, ui);
-            view_property_ui::<SpatialInformation>(&view_ctx, ui);
         });
 
         Ok(())
@@ -531,6 +549,11 @@ impl ViewClass for SpatialView3D {
         let state = state.downcast_mut::<SpatialViewState>()?;
         state.update_frame_statistics(ui, &system_output, SpatialViewKind::ThreeD);
 
+        // Store the target frame for display in the selection panel
+        if let Ok(transforms) = system_output.context_systems.get::<TransformTreeContext>() {
+            state.target_frame = Some(transforms.format_frame(transforms.target_frame()));
+        }
+
         self.view_3d(ctx, ui, state, query, system_output)
     }
 }

crates/viewer/re_view_spatial/src/view_2d.rs

@@ -63,7 +63,7 @@ mod tests {
                 let mut did_run = false;
 
                 let mut harness = test_context
-                    .setup_kittest_for_rendering_ui([400.0, 640.0])
+                    .setup_kittest_for_rendering_ui([400.0, 700.0])
                     .build_ui(|ui| {
                         ui.ctx().set_theme(egui_theme);