any filter can now be used in the observerview

source/ArmarXGui/gui-plugins/ObserverPropertiesPlugin/widgets/ObserverWidget.cpp

@@ -137,23 +137,24 @@ void ObserverWidget::filterSelected()
     QAction* action = qobject_cast<QAction*>(sender());
     if (action)
     {
-        auto widget = qobject_cast<DataFieldPropertiesWidget*>(propertiesWidget);
+        //        auto widget = qobject_cast<DataFieldPropertiesWidget*>(propertiesWidget);
         DatafieldFilterBasePtr filter;
-        if (action->text() == "Median Filter")
+        if (!action->data().isNull())
         {
-            filter = new filters::MedianFilter();
-        }
-        else if (action->text() == "Average Filter")
-        {
-            filter = new filters::MedianFilter();
-        }
-        else if (action->text() == "Gaussian Filter")
-        {
-            filter = new filters::MedianFilter();
-        }
-        else if (action->text() == "Butterworth Filter")
-        {
-            filter = new filters::ButterworthFilter(10, 100, Lowpass, 1);
+            auto filterName = action->data().toString().toStdString();
+            auto objFac = controller->getIceManager()->getCommunicator()->findObjectFactory(filterName);
+            if (!objFac)
+            {
+                ARMARX_WARNING << "Could not find obj factory of type " << filterName;
+                return;
+            }
+
+            filter = DatafieldFilterBasePtr::dynamicCast(objFac->create(filterName));
+            if (!filter)
+            {
+                ARMARX_WARNING << "Could not create filter of type " << objFac;
+                return;
+            }
         }
         else
         {
@@ -222,17 +223,70 @@ void ObserverWidget::treeView_contextMenu(const QPoint& point)
     connect(autoUpdateAction, SIGNAL(toggled(bool)), this, SLOT(toggleAutoUpdate(bool)));
     treeViewMenu.addAction(autoUpdateAction);
 
-    auto widget = qobject_cast<DataFieldPropertiesWidget*>(propertiesWidget);
+    DataFieldPropertiesWidget* widget = qobject_cast<DataFieldPropertiesWidget*>(propertiesWidget);
     if (widget)
     {
+        auto typeId = widget->getVariant()->getType();
         selectedFilterId = widget->getDatafieldIdentifier()->getIdentifierStr();
         QMenu* filters = treeViewMenu.addMenu("Filters");
-        filters->addAction("Median Filter", this, SLOT(filterSelected()));
-        filters->addAction("Average Filter", this, SLOT(filterSelected()));
-        filters->addAction("Gaussian Filter", this, SLOT(filterSelected()));
-        filters->addAction("Butterworth Filter", this, SLOT(filterSelected()));
+        std::map<std::string, bool> filterNames;
+        for (const FactoryCollectionBasePtr & facContainer : FactoryCollectionBase::GetPreregistratedFactories())
+        {
+            if (!facContainer)
+            {
+                continue;
+            }
+            for (auto pair : facContainer->getFactories())
+            {
 
+                Ice::ObjectFactoryPtr fac = pair.second;
+                if (!fac)
+                {
+                    continue;
+                }
+                try
+                {
+                    auto obj = fac->create(pair.first);
+                    if (!obj)
+                    {
+                        continue;
+                    }
+                    //                    auto ids = obj->ice_ids();
+                    //                    auto it = std::find(ids.begin(), ids.end(), "::armarx::DatafieldFilterBase");
+                    DatafieldFilterBasePtr filter = DatafieldFilterBasePtr::dynamicCast(obj);
+                    if (filter)
+                    {
+                        auto supportedTypes = filter->getSupportedTypes();
+                        auto typeIt = std::find(supportedTypes.begin(), supportedTypes.end(), typeId);
+                        filterNames.insert(std::make_pair(pair.first, typeIt != supportedTypes.end()));
+                    }
+                }
+                catch (...)
+                {
 
+                }
+            }
+        }
+        for (auto filter : filterNames)
+        {
+            const boost::regex e("::armarx::([a-zA-Z0-9_]+)Base");
+            boost::match_results<std::string::const_iterator> what;
+            boost::regex_search(filter.first, what, e);
+            QAction* a;
+            if (what.size() < 2)
+            {
+                a = filters->addAction(filter.first.c_str(), this, SLOT(filterSelected()));
+
+            }
+            else
+            {
+                std::string filteredName = what[1];
+                a = filters->addAction(filteredName.c_str(), this, SLOT(filterSelected()));
+
+            }
+            a->setEnabled(filter.second);
+            a->setData(filter.first.c_str());
+        }
     }
 
     // show menu

source/ArmarXGui/gui-plugins/ObserverPropertiesPlugin/widgets/properties/DataFieldPropertiesWidget.cpp

@@ -55,6 +55,11 @@ DataFieldIdentifierPtr DataFieldPropertiesWidget::getDatafieldIdentifier() const
     return dataFieldIdentifier;
 }
 
+VariantPtr DataFieldPropertiesWidget::getVariant()
+{
+    return variant;
+}
+
 void DataFieldPropertiesWidget::createUi()
 {
     // create property entries

source/ArmarXGui/gui-plugins/ObserverPropertiesPlugin/widgets/properties/DataFieldPropertiesWidget.h

@@ -45,7 +45,7 @@ namespace armarx
         void setEnableEdit(bool enableEdit);
         bool getEnableEdit();
         DataFieldIdentifierPtr getDatafieldIdentifier() const;
-
+        VariantPtr getVariant();
     private:
         void createUi();