Visualization.h

Go to the documentation of this file.

#pragma once
 
 
#include <optional>
#include <vector>
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
#include <ArmarXCore/libraries/DebugObserverHelper/DebugObserverHelper.h>
 
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/libraries/armem_objects/types.h>
 
#include <VisionX/libraries/ArViz/FaceRecognition.h>
#include <VisionX/libraries/ArViz/HumanPose.h>
#include <VisionX/libraries/ArViz/PersonInstance.h>
#include <VisionX/libraries/armem_human/server/PersonInstanceSegment.h>
#include <VisionX/libraries/armem_human/server/PoseSegment.h>
#include <VisionX/libraries/armem_human/server/face_recognition/Segment.h>
#include <VisionX/libraries/armem_human/types.h>
 
namespace armarx::armem::server::human
{
 
    class Visu : public armarx::Logging
    {
    public:
        Visu(const PoseSegment& poseSegment,
             const FaceRecognitionSegment& faceRecognitionSegment,
             const PersonInstanceSegment& personInstanceSegment);
 
        void defineProperties(armarx::PropertyDefinitionsPtr defs,
                              const std::string& prefix = "visu.");
        void init();
        void connect(const viz::Client& arviz, DebugObserverInterfacePrx debugObserver = nullptr);
 
    private:
        void visualizeRun();
        void visualizeOnce(const Time& timestamp);
 
        void visualizeHumanPoses(armarx::viz::HumanPoseLayers& layers,
                                 const std::vector<armarx::armem::human::HumanPose>& humanPoses);
        void visualizeFaceRecognitions(
            armarx::viz::Layer& faceRecognitionLayer,
            const std::vector<armarx::armem::human::FaceRecognition>& faceRecognitions);
 
        void visualizePersonInstances(
            armarx::viz::Layer& personInstanceLayer,
            const std::vector<armarx::armem::human::PersonInstance>& personInstances);
 
    private:
        viz::Client arviz;
        std::optional<DebugObserverHelper> debugObserver;
 
        const PoseSegment& poseSegment;
        const FaceRecognitionSegment& faceRecognitionSegment;
        const PersonInstanceSegment& personInstanceSegment;
 
        struct Properties
        {
            bool enabled = true;
            float frequencyHz = 25;
        } p;
 
        SimpleRunningTask<>::pointer_type updateTask;
    };
 
} // namespace armarx::armem::server::human