Render overlay text labels

applications/gui2/src/modules/camera.cpp

@@ -366,10 +366,10 @@ bool Camera::hasFrame() {
 	return false;
 }
 
-void Camera::drawOverlay() {
+void Camera::drawOverlay(NVGcontext *ctx) {
 	auto ptr = std::atomic_load(&latest_);
 	// TODO: Need all the source framesets here or all data dumped in by renderer
-	overlay_->draw(*ptr, ptr->frames[frame_idx].cast<ftl::rgbd::Frame>(), view->size().cast<float>());
+	overlay_->draw(ctx, *ptr, ptr->frames[frame_idx].cast<ftl::rgbd::Frame>(), view->size().cast<float>());
 }
 
 void Camera::sendPose(const Eigen::Matrix4d &pose) {

applications/gui2/src/modules/camera.hpp

@@ -50,7 +50,7 @@ public:
 	ftl::render::Colouriser* colouriser() { return colouriser_.get(); };
 	ftl::overlay::Overlay* overlay() { return overlay_.get(); }
 
-	void drawOverlay();
+	void drawOverlay(NVGcontext *ctx);
 
 	std::string getActiveSourceURI();
 

applications/gui2/src/views/camera.cpp

@@ -447,7 +447,7 @@ void CameraView::draw(NVGcontext*ctx) {
 	}
 	View::draw(ctx);
 
-	ctrl_->drawOverlay();
+	ctrl_->drawOverlay(ctx);
 
 	auto mouse = screen()->mousePos();
 	auto pos = imview_->imageCoordinateAt((mouse - mPos).cast<float>());

components/renderers/cpp/include/ftl/render/overlay.hpp

@@ -6,6 +6,8 @@
 #include <ftl/rgbd/frameset.hpp>
 #include <nanogui/glutil.h>
 
+struct NVGcontext;
+
 namespace ftl {
 namespace overlay {
 
@@ -24,7 +26,7 @@ class Overlay : public ftl::Configurable {
 
 	//void apply(ftl::rgbd::FrameSet &fs, cv::Mat &out, ftl::rgbd::FrameState &state);
 
-	void draw(ftl::data::FrameSet &fs, ftl::rgbd::Frame &frame, const Eigen::Vector2f &);
+	void draw(NVGcontext *, ftl::data::FrameSet &fs, ftl::rgbd::Frame &frame, const Eigen::Vector2f &);
 
 	private:
 	nanogui::GLShader oShader;

components/renderers/cpp/src/overlay.cpp

 #include <ftl/render/overlay.hpp>
 #include <ftl/utility/matrix_conversion.hpp>
+#include <ftl/cuda_common.hpp>
 
 #include <opencv2/imgproc.hpp>
 
@@ -241,7 +242,7 @@ void Overlay::_drawAxis(const Eigen::Matrix4d &pose, const Eigen::Vector3f &scal
 				(const void *)(loffset * sizeof(uint32_t)));
 }
 
-void Overlay::draw(ftl::data::FrameSet &fs, ftl::rgbd::Frame &frame, const Eigen::Vector2f &screenSize) {
+void Overlay::draw(NVGcontext *ctx, ftl::data::FrameSet &fs, ftl::rgbd::Frame &frame, const Eigen::Vector2f &screenSize) {
 	if (!value("enabled", false)) return;
 
 	double zfar = 8.0f;
@@ -296,6 +297,7 @@ void Overlay::draw(ftl::data::FrameSet &fs, ftl::rgbd::Frame &frame, const Eigen
 	if (value("show_poses", true)) {
 		for (size_t i=0; i<fs.frames.size(); ++i) {
 			auto &f = fs.frames[i].cast<ftl::rgbd::Frame>();
+			if (f.id().id == frame.id().id) continue;
 
 			auto pose = f.getPose(); //.inverse() * state.getPose();
 
@@ -304,8 +306,18 @@ void Overlay::draw(ftl::data::FrameSet &fs, ftl::rgbd::Frame &frame, const Eigen
 				const auto &meta = fs.frames[i].get<std::map<std::string,std::string>>(Channel::MetaData);
 				name = (meta.count("name")) ? meta.find("name")->second : "NoName";
 			}
-			_drawOutlinedShape(Shape::CAMERA, frame.getPose().inverse() * pose, Eigen::Vector3f(0.2f,0.2f,0.2f), make_uchar4(255,0,0,80), make_uchar4(255,0,0,255));
-			_drawAxis(frame.getPose().inverse() * pose, Eigen::Vector3f(0.2f, 0.2f, 0.2f));
+
+			auto tpose = frame.getPose().inverse() * pose;
+			_drawOutlinedShape(Shape::CAMERA, tpose, Eigen::Vector3f(0.2f,0.2f,0.2f), make_uchar4(255,0,0,80), make_uchar4(255,0,0,255));
+			_drawAxis(tpose, Eigen::Vector3f(0.2f, 0.2f, 0.2f));
+
+			float3 textpos;
+			textpos.x = tpose(0,3);
+			textpos.y = tpose(1,3);
+			textpos.z = tpose(2,3);
+
+			float2 textscreen = f.getLeft().camToScreen<float2>(textpos);
+			nvgText(ctx, textscreen.x, textscreen.y, name.c_str(), nullptr);
 
 			//ftl::overlay::drawCamera(state.getLeft(), out, over_depth_, fs.frames[i].getLeftCamera(), pose, cv::Scalar(0,0,255,255), 0.2,value("show_frustrum", false));
 			//if (name) ftl::overlay::drawText(state.getLeft(), out, over_depth_, *name, pos, 0.5, cv::Scalar(0,0,255,255));
@@ -359,13 +371,25 @@ void Overlay::draw(ftl::data::FrameSet &fs, ftl::rgbd::Frame &frame, const Eigen
 
 					Eigen::Vector3f scale(s.size[0]/2.0f, s.size[1]/2.0f, s.size[2]/2.0f);
 
+					auto tpose = frame.getPose().inverse() * pose;
+
 					switch (s.type) {
-					case ftl::codecs::Shape3DType::CAMERA: _drawOutlinedShape(Shape::CAMERA, frame.getPose().inverse() * pose, scale, make_uchar4(255,0,0,80), make_uchar4(255,0,0,255)); break;
-					case ftl::codecs::Shape3DType::CLIPPING: _drawOutlinedShape(Shape::BOX, frame.getPose().inverse() * pose, scale, make_uchar4(255,0,255,80), make_uchar4(255,0,255,255)); break;
-					case ftl::codecs::Shape3DType::ARUCO: _drawAxis(frame.getPose().inverse() * pose, Eigen::Vector3f(0.2f, 0.2f, 0.2f)); break;
+					case ftl::codecs::Shape3DType::CAMERA: _drawOutlinedShape(Shape::CAMERA, tpose, scale, make_uchar4(255,0,0,80), make_uchar4(255,0,0,255)); break;
+					case ftl::codecs::Shape3DType::CLIPPING: _drawOutlinedShape(Shape::BOX, tpose, scale, make_uchar4(255,0,255,80), make_uchar4(255,0,255,255)); break;
+					case ftl::codecs::Shape3DType::ARUCO: _drawAxis(tpose, Eigen::Vector3f(0.2f, 0.2f, 0.2f)); break;
 					default: break;
 					}
 
+					if (s.label.size() > 0) {
+						float3 textpos;
+						textpos.x = tpose(0,3);
+						textpos.y = tpose(1,3);
+						textpos.z = tpose(2,3);
+
+						float2 textscreen = frame.getLeft().camToScreen<float2>(textpos);
+						nvgText(ctx, textscreen.x, textscreen.y, s.label.c_str(), nullptr);
+					}
+
 					//ftl::overlay::drawBox(state.getLeft(), out, over_depth_, pose, cv::Scalar(0,0,255,100), s.size.cast<double>());
 					//ftl::overlay::drawText(state.getLeft(), out, over_depth_, s.label, pos, 0.5, cv::Scalar(0,0,255,100));
 				}