Fix decay and its settings, stream confidences to debug observer

source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp

@@ -130,7 +130,6 @@ namespace armarx::armem::server::obj
         {
             attachmentSegment.init();
         });
-
     }
 
     void ObjectMemory::onConnectComponent()
@@ -146,6 +145,9 @@ namespace armarx::armem::server::obj
 
         getProxyFromProperty(kinematicUnitObserver, "cmp.KinematicUnitObserverName", false, "", false);
 
+        // Create first to use the original values.
+        createRemoteGuiTab();
+
         instance::SegmentAdapter::connect(
             robotStateComponent,
             robot,
@@ -169,9 +171,7 @@ namespace armarx::armem::server::obj
             ArVizComponentPluginUser::getArvizClient()
         );
 
-        createRemoteGuiTab();
         RemoteGui_startRunningTask();
-
     }
 
     void ObjectMemory::onDisconnectComponent()

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

@@ -47,7 +47,7 @@ namespace armarx::armem::server::obj::instance
 
     float Decay::calculateConfidence(IceUtil::Time localization, IceUtil::Time now) const
     {
-        float duration = (now - localization).toSeconds();
+        const float duration = static_cast<float>((now - localization).toSecondsDouble());
         if (duration < delaySeconds)
         {
             return maxConfidence;
@@ -88,17 +88,17 @@ namespace armarx::armem::server::obj::instance
         }
         {
             maxConfidence.setRange(0, 1);
-            maxConfidence.setSteps(20);
+            maxConfidence.setSteps(100);
             maxConfidence.setValue(decay.maxConfidence);
         }
         {
             minConfidence.setRange(0, 1);
-            minConfidence.setSteps(20);
+            minConfidence.setSteps(100);
             minConfidence.setValue(decay.minConfidence);
         }
         {
             removeObjectsBelowConfidence.setRange(0, 1);
-            removeObjectsBelowConfidence.setSteps(20);
+            removeObjectsBelowConfidence.setSteps(100);
             removeObjectsBelowConfidence.setValue(decay.removeObjectsBelowConfidence);
         }
 
@@ -128,6 +128,7 @@ namespace armarx::armem::server::obj::instance
         decay.durationSeconds = durationSeconds.getValue();
         decay.maxConfidence = maxConfidence.getValue();
         decay.minConfidence = minConfidence.getValue();
+        decay.removeObjectsBelowConfidence = removeObjectsBelowConfidence.getValue();
     }
 
 }

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

@@ -406,6 +406,8 @@ namespace armarx::armem::server::obj::instance
 
     void SegmentAdapter::visualizeRun()
     {
+        ObjectFinder objectFinder;
+
         CycleUtil cycle(static_cast<int>(1000 / visu.frequencyHz));
         while (visu.updateTask && !visu.updateTask->isStopped())
         {
@@ -414,33 +416,45 @@ namespace armarx::armem::server::obj::instance
 
                 if (visu.enabled)
                 {
-                    TIMING_START(Visu);
+                    TIMING_START(tVisu);
 
                     objpose::ObjectPoseSeq objectPoses;
-                    ObjectFinder objectFinder;
                     visu.minConfidence = -1;
                     {
                         std::scoped_lock lock(memoryMutex);
 
                         const IceUtil::Time now = TimeUtil::GetTime();
+
+                        // Also include decayed objects in result
+                        // Store original setting.
+                        const float minConf = segment.decay.removeObjectsBelowConfidence;
+                        segment.decay.removeObjectsBelowConfidence = -1;
+                        // Get result.
                         objectPoses = segment.getObjectPoses(now);
+                        // Restore original setting.
+                        segment.decay.removeObjectsBelowConfidence = minConf;
+
                         objectFinder = segment.objectFinder;
                         if (segment.decay.enabled)
                         {
                             visu.minConfidence = segment.decay.removeObjectsBelowConfidence;
                         }
                     }
+
                     const std::vector<viz::Layer> layers = visu.visualizeCommit(objectPoses, objectFinder);
                     arviz.commit(layers);
 
-                    TIMING_END_STREAM(Visu, ARMARX_VERBOSE);
+                    TIMING_END_STREAM(tVisu, ARMARX_VERBOSE);
 
                     if (debugObserver)
                     {
-                        debugObserver->setDebugChannel(getName(),
+                        armarx::StringVariantBaseMap debugValues;
+                        debugValues["t Visualize [ms]"] = new Variant(tVisu.toMilliSecondsDouble());
+                        for (const auto& [id, pose] : objectPoses)
                         {
-                            { "t Visualize [ms]", new Variant(Visu.toMilliSecondsDouble()) },
-                        });
+                            debugValues["confidence(" + id.str() + ")"] = new Variant(pose.confidence);
+                        }
+                        debugObserver->setDebugChannel(getName(), debugValues);
                     }
                 }
             }