Visu.h

Go to the documentation of this file.

#pragma once
 
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
 
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
 
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
#include <RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/server/instance/visu/LinearPredictionsVisu.h>
 
namespace armarx
{
    class ObjectFinder;
}
 
namespace armarx::armem::server::obj::familiar_object_instance
{
 
    /**
     * @brief Models decay of object localizations by decreasing the confidence
     * the longer the object was not localized.
     */
    class Visu : public armarx::Logging
    {
    public:
        void defineProperties(armarx::PropertyDefinitionsPtr defs,
                              const std::string& prefix = "visu.");
 
 
        void visualizeFamiliarObjectsByProvider(
            const std::map<std::string,
                           std::vector<armarx::armem::arondto::FamiliarObjectInstance>>&
                familiarObjectsByProvider);
 
 
        viz::Client arviz;
 
        bool enabled = true;
        float frequencyHz = 25;
 
        bool inGlobalFrame = true;
        float minConfidence = -1;
        float alpha = 1.0;
        bool alphaByConfidence = false;
        bool oobbs = false;
 
        std::uint8_t sizePixel = 5;
 
        bool visualizePointCloud = true;
        bool visualizeBoundingBox = true;
        bool visualizePose = true;
        bool visualizeLabels = true;
 
        bool objectFrames = false;
        float objectFramesScale = 1.0;
 
        float visualizationDuration = 20; //[s]
 
 
        SimpleRunningTask<>::pointer_type updateTask;
    };
 
} // namespace armarx::armem::server::obj::familiar_object_instance