Updated visualization of framed box locations

source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/Visu.cpp

 #include "Visu.h"
 
+#include <SimoxUtility/color/Color.h>
+#include <SimoxUtility/color/KellyLUT.h>
+
 #include <ArmarXCore/core/logging/Logging.h>
 
 namespace armarx::priorknowledge::util::location
@@ -25,10 +28,28 @@ namespace armarx::priorknowledge::util::location
                                         const Eigen::Vector3f& extends) const
     {
         // Add global location to layer
-        layer.add(armarx::viz::Box(id)
+        std::smatch matches;
+        if (std::regex_match(id, matches, pattern)) 
+        {
+            const std::string& affordance_name = matches[1];
+            unique_affordances.insert(affordance_name);
+            unsigned int index = std::distance(unique_affordances.begin(), unique_affordances.find(affordance_name)) 
+                % simox::color::KellyLUT::KELLY_COLORS_COLOR_BLIND.size();
+            layer.add(armarx::viz::Text(id + "_name").text(affordance_name)
+                .color(simox::color::Color::black()).scale(10.0f).pose(locationGlobalPose));
+            layer.add(armarx::viz::Box(id)
+                      .pose(locationGlobalPose)
+                      .size(extends)
+                      .color(simox::color::KellyLUT::KELLY_COLORS_COLOR_BLIND.at(index).with_alpha(0.5f)));  
+        }
+        else 
+        {
+            layer.add(armarx::viz::Text(id + "_name").text(id).pose(locationGlobalPose));
+            layer.add(armarx::viz::Box(id)
                       .pose(locationGlobalPose)
                       .size(extends)
                       .color(this->settings.framedBoxedLocationColor));
+        }
     }
 
     viz::Layer

source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/Visu.h

 #pragma once
 
+#include <regex>
+#include <unordered_map>
+
 #include <RobotAPI/components/ArViz/Client/Client.h>
 #include <RobotAPI/components/ArViz/Client/ScopedClient.h>
 
@@ -60,5 +63,9 @@ namespace armarx::priorknowledge::util::location
 
     protected:
         viz::Client& arviz;
+
+    private:
+        const std::regex pattern = std::regex(R"(^[^:]+\/([^:]+?):[^:]+?$)");
+        mutable std::set<std::string> unique_affordances;
     };
 } // namespace armarx::priorknowledge::util::location