Allow the visualization of labels

CHANGELOG.md

@@ -6,6 +6,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Added
+- Add the visualization of labels in the visualizer (https://github.com/robotology/idyntree/pull/879)
 
 ## [3.2.1] - 2021-06-07
 

CMakeLists.txt

@@ -8,7 +8,7 @@
 
 cmake_minimum_required(VERSION 3.16)
 
-project(iDynTree VERSION 3.2.1
+project(iDynTree VERSION 4.0.0
                  LANGUAGES C CXX)
 
 # Disable in source build, unless Eclipse is used

src/visualization/CMakeLists.txt

@@ -21,6 +21,7 @@ if(IDYNTREE_USES_IRRLICHT)
                                                src/Texture.h
                                                src/TexturesHandler.h
                                                src/Light.h
+                                               src/Label.h
                                                src/FloorGridSceneNode.h)
     set(iDynTree_visualization_private_source  src/Camera.cpp
                                                src/CameraAnimator.cpp
@@ -32,6 +33,7 @@ if(IDYNTREE_USES_IRRLICHT)
                                                src/Texture.cpp
                                                src/TexturesHandler.cpp
                                                src/Light.cpp
+                                               src/Label.cpp
                                                src/FloorGridSceneNode.cpp)
 endif()
 

src/visualization/include/iDynTree/Visualizer.h

@@ -382,6 +382,81 @@ class IJetsVisualization
     virtual bool setJetsIntensity(const VectorDynSize & jetsIntensity) = 0;
 };
 
+/**
+ * The interface to add a label in the visualizer.
+ */
+
+class ILabel
+{
+public:
+
+    /**
+     * Destructor
+     */
+    virtual ~ILabel() = 0;
+
+    /**
+     * @brief Set the text of the label
+     * @param text The text to be displayed
+     */
+    virtual void setText(const std::string& text) = 0;
+
+    /**
+     * @brief Get the label text
+     * @return The text shown in the label.
+     */
+    virtual std::string getText() const = 0;
+
+    /**
+     * @brief Set the height of the label. The width is computed automatically
+     * @param height The height to be set
+     */
+    virtual void setSize(float height) = 0;
+
+    /**
+     * @brief Set the width and the height of the label
+     * @param width The width of the label
+     * @param height The height of the label
+     */
+    virtual void setSize(float width, float height) = 0;
+
+    /**
+     * @brief Get the width of the label
+     * @return The width of the label
+     */
+    virtual float width() const = 0;
+
+    /**
+     * @brief Get the height of the label
+     * @return The height of the label
+     */
+    virtual float height() const = 0;
+
+    /**
+     * @brief Set the position of the label
+     * @param position The position of the label
+     */
+    virtual void setPosition(const iDynTree::Position& position) = 0;
+
+    /**
+     * @brief Get the position of the label
+     * @return The position of the label
+     */
+    virtual iDynTree::Position getPosition() const = 0;
+
+    /**
+     * @brief Set the color of the label
+     * @param color The color of the label
+     */
+    virtual void setColor(const iDynTree::ColorViz& color) = 0;
+
+    /**
+     * @brief Set the visibility of the label
+     * @param visible The visibility of the label
+     */
+    virtual void setVisible(bool visible = true) = 0;
+};
+
 /**
  * Interface to the visualization of vectors.
  */
@@ -454,6 +529,21 @@ class IVectorsVisualization
      * @return true if successfull, false in case of negative numbers.
      */
     virtual bool setVectorsAspect(double zeroModulusRadius, double modulusMultiplier, double heightScale) = 0;
+
+    /**
+     * @brief Set the visibility of a given vector
+     * @param The index of the vector to change the visibility
+     * @param visible The visibility of the vector
+     * @return true if successfull, false if the index is out of bounds
+     */
+    virtual bool setVisible(size_t vectorIndex, bool visible = true) = 0;
+
+    /**
+     * @brief Get the label associated to a vector
+     * @param vectorIndex The index of the vector to get the label
+     * @return The label associated to the vector. nullptr if the vectorIndex is out of bounds.
+     */
+    virtual ILabel* getVectorLabel(size_t vectorIndex) = 0;
 };
 
 /**
@@ -495,6 +585,13 @@ class IFrameVisualization
      * Update Frame
      */
     virtual bool updateFrame(size_t frameIndex, const Transform& transformation) = 0;
+
+    /**
+     * Get the label of a frame.
+     *
+     * Returns nullptr of the frame index is out of bounds.
+     */
+    virtual ILabel* getFrameLabel(size_t frameIndex) = 0;
 };
 
 
@@ -617,6 +714,11 @@ class IModelVisualization
      * Get the transformation of given frame with respect to visualizer world \f$ w_H_{frame}\f$
      */
     virtual Transform getWorldFrameTransform(const std::string& frameName) = 0;
+
+    /**
+     * Get the label for the model.
+     */
+    virtual ILabel& label() = 0;
 };
 
 /**
@@ -815,6 +917,11 @@ friend class ModelVisualization;
      */
     ITexturesHandler& textures();
 
+    /**
+     * Get a label given a name. Note: this does not set the text in the label.
+     */
+    ILabel& getLabel(const std::string& labelName);
+
     /**
      * Wrap the run method of the Irrlicht device.
      */

src/visualization/src/DummyImplementations.h

@@ -93,6 +93,22 @@ class DummyJetsVisualization : public IJetsVisualization
     virtual bool setJetsIntensity(const VectorDynSize & ) { return false; };
 };
 
+class DummyLabel : public iDynTree::ILabel
+{
+public:
+    virtual ~DummyLabel() override {};
+    virtual void setText(const std::string& ) override {};
+    virtual std::string getText() const override {return "";};
+    virtual void setSize(float ) override {};
+    virtual void setSize(float , float ) override {};
+    virtual float width() const override {return 0.0;};
+    virtual float height() const override {return 0.0;};
+    virtual void setPosition(const iDynTree::Position& ) override {};
+    virtual iDynTree::Position getPosition() const override {return iDynTree::Position::Zero();};
+    virtual void setColor(const iDynTree::ColorViz& ) override {};
+    virtual void setVisible(bool ) override {};
+};
+
 class DummyVectorsVisualization : public IVectorsVisualization {
 public:
     virtual ~DummyVectorsVisualization() override { }
@@ -107,6 +123,8 @@ class DummyVectorsVisualization : public IVectorsVisualization {
     virtual bool setVectorsAspect(double, double, double) override { return false; }
     virtual void setVectorsColor(const ColorViz &) override { return; }
     virtual void setVectorsDefaultColor(const ColorViz &) override { return; }
+    virtual bool setVisible(size_t , bool ) override { return false; }
+    virtual ILabel* getVectorLabel(size_t ) override {return nullptr;}
 };
 
 class DummyFrameVisualization : public IFrameVisualization
@@ -119,6 +137,7 @@ class DummyFrameVisualization : public IFrameVisualization
     virtual size_t getNrOfFrames() const override {return 0; };
     virtual bool getFrameTransform(size_t , Transform& ) const override {return false;};
     virtual bool updateFrame(size_t, const Transform&) override {return false;};
+    virtual ILabel* getFrameLabel(size_t) override {return nullptr;};
 };
 
 /**
@@ -128,6 +147,7 @@ class DummyModelVisualization : public IModelVisualization
 {
     Model m_dummyModel;
     DummyJetsVisualization m_dummyJets;
+    DummyLabel m_dummyLabel;
 public:
     virtual ~DummyModelVisualization() {};
     virtual bool init(const Model& , const std::string , Visualizer &) { return false; }
@@ -151,6 +171,7 @@ class DummyModelVisualization : public IModelVisualization
     virtual Transform getWorldFrameTransform(const FrameIndex &) { return iDynTree::Transform::Identity(); }
     virtual Transform getWorldLinkTransform(const std::string &) { return iDynTree::Transform::Identity(); }
     virtual Transform getWorldFrameTransform(const std::string &) { return iDynTree::Transform::Identity(); }
+    virtual ILabel& label() { return m_dummyLabel; };
 };
 
 class DummyTexturesHandler : public ITexturesHandler

src/visualization/src/FrameVisualization.cpp

@@ -31,6 +31,7 @@ size_t iDynTree::FrameVisualization::addFrame(const iDynTree::Transform &transfo
 
     m_frames.back().visualizationNode = addFrameAxes(m_smgr, 0, arrowLength);
     setFrameTransform(m_frames.size() - 1, transformation);
+    m_frames.back().label.init(m_smgr, m_frames.back().visualizationNode);
 
     return m_frames.size() - 1;
 }
@@ -76,6 +77,16 @@ bool iDynTree::FrameVisualization::updateFrame(size_t frameIndex, const iDynTree
     return true;
 }
 
+iDynTree::ILabel *iDynTree::FrameVisualization::getFrameLabel(size_t frameIndex)
+{
+    if (frameIndex >= m_frames.size()) {
+        reportError("FrameVisualization","getFrameLabel","frameIndex out of bounds.");
+        return nullptr;
+    }
+
+    return &m_frames[frameIndex].label;
+}
+
 iDynTree::FrameVisualization::~FrameVisualization()
 {
     close();

src/visualization/src/FrameVisualization.h

@@ -11,6 +11,7 @@
 #define IDYNTREE_FRAMEVISUALIZATION_H
 
 #include <iDynTree/Visualizer.h>
+#include "Label.h"
 
 #include <vector>
 #include <irrlicht.h>
@@ -22,6 +23,7 @@ namespace iDynTree
         struct Frame
         {
             irr::scene::ISceneNode * visualizationNode = nullptr;
+            Label label;
         };
 
         std::vector<Frame> m_frames;
@@ -53,6 +55,8 @@ namespace iDynTree
 
         virtual bool updateFrame(size_t frameIndex, const Transform& transformation) final;
 
+        virtual ILabel* getFrameLabel(size_t frameIndex) final;
+
     };
 }