Fix and refactor visu of linear object pose predictions

source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp

@@ -572,7 +572,7 @@ namespace armarx::armem::server::obj::instance
                                 poseHistories[id] = instance::Segment::getObjectPosesInRange(
                                     *entity,
                                     Time::Now() - Duration::SecondsDouble(
-                                                      visu.linearPredictionTimeWindowSeconds),
+                                                      visu.linearPredictions.timeWindowSeconds),
                                     Time::Invalid());
                             }
                         }

source/RobotAPI/libraries/armem_objects/server/instance/Visu.h

@@ -83,21 +83,46 @@ namespace armarx::armem::server::obj::instance
         bool objectFrames = false;
         float objectFramesScale = 1.0;
 
-        bool gaussiansPosition = true;
-        float gaussiansPositionScale = 1.0;
-        bool gaussiansOrientation = false;
-        float gaussiansOrientationScale = 100;
-        bool gaussiansOrientationDisplaced = false;
+        struct Gaussians
+        {
+            bool position = true;
+            float positionScale = 1.0;
+            bool orientation = false;
+            float orientationScale = 100;
+            bool orientationDisplaced = false;
+
+            void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix);
+
+            bool showAny() const;
+            void draw(viz::Layer& layer,
+                      const objpose::ObjectPose& objectPose,
+                      bool inGlobalFrame) const;
+        };
+        Gaussians gaussians;
 
         /// Prefer articulated models if available.
         bool useArticulatedModels = true;
 
         /// Linear predictions for objects.
-        bool showLinPredGhost = false;
-        float linPredGhostAlpha = 0.7;
-        bool showLinPredArrow = false;
-        float linearPredictionTimeOffsetSeconds = 1;
-        float linearPredictionTimeWindowSeconds = 2;
+        struct LinearPredictions : public armarx::Logging
+        {
+            bool showGhost = false;
+            float ghostAlpha = 0.7;
+            bool showFrame = false;
+            bool showArrow = false;
+            float timeOffsetSeconds = 1;
+            float timeWindowSeconds = 2;
+
+            void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix);
+
+            bool showAny() const;
+            void draw(viz::Layer& layer,
+                      std::function<viz::Object(const std::string& key)> makeObjectFn,
+                      const objpose::ObjectPose& objectPose,
+                      const std::map<DateTime, objpose::ObjectPose>& poseHistory,
+                      bool inGlobalFrame) const;
+        };
+        LinearPredictions linearPredictions;
 
         SimpleRunningTask<>::pointer_type updateTask;
 
@@ -127,6 +152,7 @@ namespace armarx::armem::server::obj::instance
                 armarx::RemoteGui::Client::GroupBox group;
 
                 void setup(const Visu& data);
+                void update(Visu::Gaussians& data);
             };
             Gaussians gaussians;
 
@@ -138,15 +164,16 @@ namespace armarx::armem::server::obj::instance
                 armarx::RemoteGui::Client::CheckBox showGhost;
                 armarx::RemoteGui::Client::FloatSpinBox ghostAlpha;
 
-                armarx::RemoteGui::Client::CheckBox showPositionArrow;
+                armarx::RemoteGui::Client::CheckBox showFrame;
+                armarx::RemoteGui::Client::CheckBox showArrow;
 
                 armarx::RemoteGui::Client::FloatSpinBox timeOffsetSeconds;
                 armarx::RemoteGui::Client::FloatSpinBox timeWindowSeconds;
 
                 armarx::RemoteGui::Client::GroupBox group;
 
-                void setup(const Visu& data);
-                void update(Visu& data);
+                void setup(const Visu::LinearPredictions& data);
+                void update(Visu::LinearPredictions& data);
             };
             LinearPredictions linearPredictions;