feat: handle unstable unprojection for fov

mapillary · Nov 15, 2023 · 0dd4386 · 0dd4386
1 parent 7fe4052
commit 0dd4386
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Showing 3 changed files with 69 additions and 17 deletions.
diff --git a/src/geo/Geo.ts b/src/geo/Geo.ts
@@ -38,6 +38,15 @@ export function computeProjectedPoints(
     pointsPerLine: number,
     viewportCoords: ViewportCoords): number[][] {
 
+    // @ts-ignore
+    const camera: THREE.Camera = new THREE.Camera();
+    camera.up.copy(transform.upVector());
+    camera.position.copy(new THREE.Vector3().fromArray(transform.unprojectSfM([0, 0], 0)));
+    camera.lookAt(new THREE.Vector3().fromArray(transform.unprojectSfM([0, 0], 10)));
+    camera.updateMatrix();
+    camera.updateMatrixWorld(true);
+
+
     const basicPoints: number[][] = [];
 
     for (let side: number = 0; side < basicVertices.length; ++side) {
@@ -52,6 +61,33 @@ export function computeProjectedPoints(
         }
     }
 
+
+    const projectedPoints: number[][] = [];
+    for (const [index, basicPoint] of basicPoints.entries()) {
+        const worldPoint = transform.unprojectBasic(basicPoint, 10000);
+        const cameraPoint = viewportCoords.worldToCamera(worldPoint, camera);
+        if (cameraPoint[2] > 0) {
+            continue;
+        }
+
+        projectedPoints.push([
+            cameraPoint[0] / cameraPoint[2],
+            cameraPoint[1] / cameraPoint[2],
+            index,
+        ]);
+    }
+
+
+    return projectedPoints;
+}
+
+export function computeProjectedPointsSafe(
+    transform: Transform,
+    basicVertices: number[][],
+    basicDirections: number[][],
+    pointsPerLine: number,
+    viewportCoords: ViewportCoords): number[][] {
+
     // @ts-ignore
     const camera: THREE.Camera = new THREE.Camera();
     camera.up.copy(transform.upVector());
@@ -60,17 +96,28 @@ export function computeProjectedPoints(
     camera.updateMatrix();
     camera.updateMatrixWorld(true);
 
-    const projectedPoints = basicPoints
-        .map(
-            (basicPoint: number[]): number[] => {
-                const worldPoint = transform.unprojectBasic(basicPoint, 10000);
-                const cameraPoint = viewportCoords.worldToCamera(worldPoint, camera);
-
-                return [
-                    cameraPoint[0] / cameraPoint[2],
-                    cameraPoint[1] / cameraPoint[2],
-                ];
-            });
+    const projectedPoints: number[][] = [];
+    for (let side: number = 0; side < basicVertices.length; ++side) {
+        const v: number[] = basicVertices[side];
+        const d: number[] = basicDirections[side];
+
+        for (let i: number = 0; i <= pointsPerLine; ++i) {
+            const basicPoint = [
+                v[0] + d[0] * i / pointsPerLine,
+                v[1] + d[1] * i / pointsPerLine,
+            ];
+            const worldPoint = transform.unprojectBasic(basicPoint, 10000);
+            const cameraPoint = viewportCoords.worldToCamera(worldPoint, camera);
+            if (cameraPoint[2] > 0) {
+                break;
+            }
+
+            projectedPoints.push([
+                cameraPoint[0] / cameraPoint[2],
+                cameraPoint[1] / cameraPoint[2],
+            ]);
+        }
+    }
 
     return projectedPoints;
 }
diff --git a/src/geometry/camera/FisheyeCamera.ts b/src/geometry/camera/FisheyeCamera.ts
@@ -90,6 +90,10 @@ vec2 projectToSfm(vec3 bearing, Parameters parameters, Uniforms uniforms) {
     float radialPeak = uniforms.radialPeak;
 
     // Projection
+    if (z < 0.) {
+        return vec2(POSITIVE_INFINITY, POSITIVE_INFINITY);
+    }
+
     float r = sqrt(x * x + y * y);
     float theta = atan(r, z);
 

diff --git a/src/render/RenderCamera.ts b/src/render/RenderCamera.ts
@@ -419,11 +419,11 @@ export class RenderCamera {
     }
 
     private _computeProjectedPoints(transform: Transform): number[][] {
-        const vertices = [[0, 0], [1, 0]];
-        const directions = [[1, 0], [0, 1]];
-        const pointsPerLine = 50;
+        const vertices = [[0.5, 0], [0.5, 0], [1, 0.5], [1, 0.5]];
+        const directions = [[-0.5, 0], [0.5, 0], [0, -0.5], [0, 0.5]];
+        const pointsPerLine = 25;
 
-        return Geo.computeProjectedPoints(
+        return Geo.computeProjectedPointsSafe(
             transform,
             vertices,
             directions,
@@ -475,7 +475,9 @@ export class RenderCamera {
                         aspect);
                 });
 
-        const vFovFill = Math.min(...fovs) * 0.995;
+        const fovMax = 125;
+        const minFov = Math.min(...fovs) * 0.995;
+        const vFovFill = Math.min(minFov, fovMax);
         if (renderMode === RenderMode.Fill) {
             return vFovFill;
         }
@@ -492,7 +494,6 @@ export class RenderCamera {
             vFov *= hFovMax / hFovLetterbox;
         }
 
-        const fovMax = 135;
         const vFovMax = aspect > 2 ? vFovFill : fovCoeff * vFovFill;
         vFov = Math.min(vFov, vFovMax, fovMax);
         vFov = Math.max(vFov, vFovFill);