Feature (graphics): add Rerun and OBJ 2D/3D visualization

.gitignore

@@ -74,6 +74,8 @@ examples/**/*.png
 examples/**/*.jpg
 examples/**/*.svg
 *.ipe
+*.rrd
+*.obj
 
 # Matlab files
 *.asv

CMakeLists.txt

@@ -160,6 +160,24 @@
     find_package(CAPD REQUIRED)
   endif()
 
+################################################################################
+# Looking for Rerun (if needed)
+################################################################################
+
+  option(WITH_RERUN "Build with Rerun graphics support" ON)
+
+  if(WITH_RERUN)
+    find_package(rerun_sdk QUIET)
+    if(NOT rerun_sdk_FOUND)
+      FetchContent_Declare(
+        rerun_sdk
+        URL https://github.com/rerun-io/rerun/releases/download/0.38.1/rerun_cpp_sdk.zip
+      )
+      FetchContent_MakeAvailable(rerun_sdk)
+    endif()
+    add_compile_definitions(CODAC_WITH_RERUN)
+  endif()
+
 ################################################################################
 # Compile sources
 ################################################################################
@@ -189,7 +207,7 @@
   if(BUILD_TESTS)
     include(CTest)
     add_custom_target(check
-                      COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure $(ARGS)
+                      COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure 
                       DEPENDS ${PROJECT_NAME} COMMENT "Running the tests")
 
     add_subdirectory(tests)

doc/CMakeLists.txt

@@ -70,13 +70,7 @@
       file(COPY ${static_file} DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/manual/tmp/)
     endforeach()
 
-    # todo: the SPHINX_EXECUTABLE is already set by FindSphinx.cmake:
-    # check that it works without the following overload for Win and Linux:
-    if(WIN32)
-      set(SPHINX_EXECUTABLE "sphinx-build")
-    else()
-      set(SPHINX_EXECUTABLE "python3" "-msphinx")
-    endif()
+
 
     add_custom_target(manual
                       COMMAND

doc/manual/manual/visualization/3d_visualization.rst

@@ -3,41 +3,52 @@
 The 3D Figure class
 ===================
 
-  Main author: `Maël Godard <https://godardma.github.io>`_, `Damien Massé <https://labsticc.fr/fr/annuaire/masse-damien>`_
+  Main author: `Maël Godard <https://godardma.github.io>`_, `Damien Massé <https://labsticc.fr/fr/annuaire/masse-damien>`_, `Quentin Brateau <https://teusner.github.io>`_
 
 This page describes the class used in Codac for 3D visualization.
 
 Figure3D
 --------
 
 The basic class for 3D visualization is Figure3D. It is used to generate a ``.obj`` file that can be imported in any 3D visualization software.
+The basic class for 3D visualization is Figure3D. It can be used to generate a ``.obj`` file that can be imported in any 3D visualization software, or streamed live to the :ref:`Rerun visualizer <sec-graphics-rerun>` (``.rrd``).
 
 For online visualization, the free website `3dviewer <https://3dviewer.net/>`_ can be used.
+For online OBJ visualization, the free website `3dviewer <https://3dviewer.net/>`_ can be used.
 
 The constructor takes one arguments: the name of the object file.
+The constructor takes the name of the figure and optionnaly the graphic output backend (defaulting to ``GraphicOutput::OBJ | GraphicOutput::RERUN``).
 
 .. tabs::
 
   .. code-tab:: py
 
     fig = Figure3D("my_object") # for the object file my_object.obj
+    fig = Figure3D("my_object", GraphicOutput.OBJ | GraphicOutput.RERUN)
 
   .. code-tab:: c++
 
     Figure3D fig ("my_object"); // for the object file my_object.obj
+    Figure3D fig("my_object", GraphicOutput::OBJ | GraphicOutput::RERUN);
 
   .. code-tab:: matlab
 
     fig = Figure3D("my_object") % for the object file my_object.obj
+    fig = Figure3D("my_object", GraphicOutput().OBJ.union(GraphicOutput().RERUN));
 
 Drawing functions
 -----------------
 
 Below are the detailled available drawing functions. The shapes that can be drawn are:
+Below are the detailed available drawing functions. The shapes that can be drawn are:
 
 Geometric shapes
+  - Point
+  - Line
+  - Polyline
   - Box
   - Sphere
+  - Ellipsoid
   - Arrow
   - Zonotope
   - Parallelepiped
@@ -49,43 +60,74 @@ Geometric shapes
 Vehicles
   - Car
   - Plane
+  - AUV
 
 Paving
   - PavingOut (Paving with contractors)
   - PavingInOut (Paving with separators)
   - Subpaving
 
+Trajectories & Tubes
+  - Sampled and Analytic Trajectories
+  - Sliced Tubes
 
+Note that stroke and fill colors can be specified via :ref:`StyleProperties <subsec-graphics-colors-style-properties>`.
 
 Note that only the stroke color is used in all of the supported drawing functions.
+In addition, a function ``draw_axes`` is available to draw the three axes of the 3D space. It can take two arguments:
 
 In addition, a function ``draw_axes`` is available to draw the three axes of the 3D space. It can take two arguments :
 
 - float : the size of the axes
+- double : the size of the axes
 - Vector : the origin of the axes
 
 
 Geometric shapes
 ----------------
 
 All the drawable geometric objects can take a last optionnal argument to set up their stroke color. 
+All the drawable geometric objects can take a last optional argument to set up their style properties (color, line width, layer). 
 For further details, refer to :ref:`subsec-graphics-colors-style-properties`. 
 
 The geometric shapes that can be drawn and their arguments are listed below :
+The geometric shapes that can be drawn and their arguments are listed below:
+
+- draw_point
+
+  - Vector : coordinates of the 3D point
+
+- draw_line
+
+  - Vector : start of the line
+  - Vector : end of the line
+
+- draw_polyline
+
+  - vector<Vector> : sequence of 3D points forming the polyline
 
 - draw_box
 
   - IntervalVector : the box to draw
+  - IntervalVector : the 3D box to draw
 
 - draw_sphere
 
+
   - Vector : the center of the sphere
   - Matrix : the scaling matrix
+  - Matrix : the scaling and rotation matrix
+
+- draw_ellipsoid
+
+  - Ellipsoid : the ellipsoid object to draw
 
 - draw_arrow
 
   - Vector : start of the arrow
   - Matrix : orientation of the arrow (first column)
+  - Vector : start origin of the arrow
+  - Matrix : orientation matrix (first column is the direction)
 
 - draw_zonotope
 
@@ -118,6 +160,7 @@ The geometric shapes that can be drawn and their arguments are listed below :
   - Vector : third point
 
 The ``draw_polygon`` can be used to draw a `star-shaped polygon <https://en.wikipedia.org/wiki/Star-shaped_polygon>`_ when the vectors are coplanar, and more
+The ``draw_polygon`` function can be used to draw a `star-shaped polygon <https://en.wikipedia.org/wiki/Star-shaped_polygon>`_ when the vectors are coplanar, and more
 generally a sequence of adjacent triangles sharing a same vertex.
 
 - draw_polygon
@@ -135,40 +178,69 @@ generally a sequence of adjacent triangles sharing a same vertex.
   - Interval : bounds of p2
   - double : incrementation for p2
   - function<double, double> -\> Vector : the function of the surface, linking each (p1,p2) to a 3D point
+  - function<Vector(double, double)> : the parametric surface function linking (p1, p2) to a 3D point
 
 Vehicles
 --------
 
 All the drawable vehicles can take a last optionnal argument to set up their stroke color. 
+All the drawable vehicles can take a last optional argument to set up their style properties. 
 For further details, refer to :ref:`subsec-graphics-colors-style-properties`. 
 
 The vehicles that can be drawn and their arguments are listed below :
+The vehicles that can be drawn and their arguments are listed below:
 
 - draw_car
 
   - Vector : center of the car
   - Matrix : orientation of the car
+  - Vector : center position of the car
+  - Matrix : orientation matrix of the car
 
 - draw_plane
 
   - Vector : center of the plane
   - Matrix : orientation of the plane
   - bool : (optionnal) defines if the yaw axis is up, default to true
+  - Vector : center position of the plane
+  - Matrix : orientation matrix of the plane
+  - bool : (optional) defines if the yaw axis is pointing upwards, default to true
+
+- draw_AUV
+
+  - Vector : center position of the AUV
+  - Matrix : orientation matrix of the AUV
 
 Paving
 ------
 
 When a paving is drawn, only the inside and boundary boxes are drawn. This is done to avoid outside boxes masking them.
+When a paving is drawn, only the inside and boundary boxes are drawn to avoid outside boxes masking them.
 
 If only one type of paving is drawn (for example a paving with contractors), only one :ref:`subsec-graphics-colors-style-properties` can be defined to choose its edge color.
+If only one type of paving is drawn (for example a paving with contractors), only one :ref:`subsec-graphics-colors-style-properties` can be defined to choose its color.
 If two types are drawn (boundary and inside), two :ref:`subsec-graphics-colors-style-properties` can be passed to select both colors.
 
 The paving that can be drawn and their arguments are listed below :
+The paving that can be drawn and their arguments are listed below:
 
 - draw_paving
 
   - PavingOut | PavingInOut : the paving to draw
 
 - draw_subpaving
 
-  - Subpaving : the subpaving to draw
+  - Subpaving : the subpaving to draw
+
+Trajectories & Tubes
+--------------------
+
+3D trajectories and tubes can also be drawn on 3D figures:
+
+- draw_trajectory
+
+  - SampledTraj<Vector> | AnalyticTraj<VectorType> : the 3D trajectory to draw
+
+- draw_tube
+
+  - SlicedTube<IntervalVector> : the 3D tube of interval vectors to draw

doc/manual/manual/visualization/figures.rst

@@ -3,7 +3,7 @@
 The 2D Figure classes
 =====================
 
-  Main author: `Maël Godard <https://godardma.github.io>`_
+  Main author: `Maël Godard <https://godardma.github.io>`_, `Quentin Brateau <https://teusner.github.io>`_
 
 This page describes the classes used in Codac for 2D visualization.
 
@@ -14,6 +14,8 @@ Graphical outputs
 
 Two graphical outputs are currently supported in Codac: :ref:`VIBes <sec-graphics-vibes>` and :ref:`IPE <sec-graphics-ipe>`. VIBes is used for real-time 
 visualization while IPE creates a file that can be edited by the IPE editor. These outputs are referenced by the enumeration GraphicOutput:
+Three graphical outputs are currently supported in Codac: :ref:`VIBes <sec-graphics-vibes>`, :ref:`IPE <sec-graphics-ipe>`, and :ref:`Rerun <sec-graphics-rerun>`. VIBes is used for real-time 
+visualization, IPE creates a file that can be edited by the IPE editor, and Rerun generates an interactive recording (`.rrd`). These outputs are referenced by the enumeration GraphicOutput:
 
 .. tabs::
 
@@ -22,18 +24,24 @@ visualization while IPE creates a file that can be edited by the IPE editor. The
     GraphicOutput.VIBES # for VIBes
     GraphicOutput.IPE # for IPE
     GraphicOutput.VIBES | GraphicOutput.IPE # for both
+    GraphicOutput.RERUN # for Rerun
+    GraphicOutput.VIBES | GraphicOutput.IPE | GraphicOutput.RERUN # for all
 
   .. code-tab:: c++
 
     GraphicOutput::VIBES  // for VIBes
     GraphicOutput::IPE  // for IPE
     GraphicOutput::VIBES | GraphicOutput::IPE // for both
+    GraphicOutput::RERUN  // for Rerun
+    GraphicOutput::VIBES | GraphicOutput::IPE | GraphicOutput::RERUN // for all
 
   .. code-tab:: matlab
 
     GraphicOutput().VIBES  % for VIBes
     GraphicOutput().IPE  % for IPE
     GraphicOutput().VIBES.union(GraphicOutput().IPE) % for both
+    GraphicOutput().RERUN  % for Rerun
+    GraphicOutput().VIBES.union(GraphicOutput().IPE).union(GraphicOutput().RERUN) % for all
 
 Note that for the VIBes output to work, the VIBes viewer must be launched before the program is run.
 
@@ -43,6 +51,7 @@ Figure2D
 --------
 
 The basic class for 2D visualization is Figure2D. It is used to create a figure that can be displayed in VIBes or saved in an xml file for IPE.
+The basic class for 2D visualization is Figure2D. It is used to create a figure that can be displayed in VIBes, saved in an xml file for IPE, or exported to Rerun (.rrd).
 The constructor takes two arguments: the name of the figure and the graphical output. A boolean can be added to specify if the figure is to be used
 DefaultFigure (see :ref:`subsec-graphics-2d-figures-defaultfigure`).
 
@@ -51,14 +60,17 @@ DefaultFigure (see :ref:`subsec-graphics-2d-figures-defaultfigure`).
   .. code-tab:: py
 
     fig = Figure2D("My figure", GraphicOutput.VIBES | GraphicOutput.IPE)
+    fig = Figure2D("My figure", GraphicOutput.VIBES | GraphicOutput.IPE | GraphicOutput.RERUN)
 
   .. code-tab:: c++
 
     Figure2D fig ("My Figure",GraphicOutput::VIBES|GraphicOutput::IPE);
+    Figure2D fig ("My Figure", GraphicOutput::VIBES | GraphicOutput::IPE | GraphicOutput::RERUN);
 
   .. code-tab:: matlab
 
     fig = Figure2D("My figure 1", GraphicOutput().VIBES.union(GraphicOutput().IPE));
+    fig = Figure2D("My figure 1", GraphicOutput().VIBES.union(GraphicOutput().IPE).union(GraphicOutput().RERUN));
 
 .. _subsec-graphics-2d-figures-defaultfigure:
 
@@ -72,21 +84,21 @@ Any Figure2D object can be used as DefaultFigure with the set method:
 
   .. code-tab:: py
 
-    fig = Figure2D("My figure", GraphicOutput.VIBES | GraphicOutput.IPE)
+    fig = Figure2D("My figure", GraphicOutput.VIBES | GraphicOutput.IPE | GraphicOutput.RERUN)
     fig.is_default() # is False
     DefaultFigure.set(fig)
     fig.is_default() # is True
 
   .. code-tab:: c++
 
-    std::shared_ptr<codac2::Figure2D> fig = std::make_shared<Figure2D>("My Figure",GraphicOutput::VIBES|GraphicOutput::IPE);
+    std::shared_ptr<codac2::Figure2D> fig = std::make_shared<Figure2D>("My Figure",GraphicOutput::VIBES|GraphicOutput::IPE|GraphicOutput::RERUN);
     fig->is_default(); // is false
     DefaultFigure::set(fig);
     fig->is_default(); // is true
 
   .. code-tab:: matlab
 
-    fig = Figure2D("My figure", GraphicOutput().VIBES.union(GraphicOutput().IPE));
+    fig = Figure2D("My figure", GraphicOutput().VIBES.union(GraphicOutput().IPE.union(GraphicOutput().RERUN)));
     fig.is_default() % is False
     DefaultFigure().set(fig);
     fig.is_default() % is True

doc/manual/manual/visualization/index.rst

@@ -11,6 +11,7 @@ Visualization
   colors.rst
   vibes.rst
   ipe.rst
+  rerun.rst
   2d_example.rst
   3d_visualization.rst
   3d_example.rst