updated ViewSelection

- added support for saliency map selection
- added clear button for saliency egosphere

source/RobotAPI/components/ViewSelection/ViewSelection.cpp

@@ -15,7 +15,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
- * @package    RobotComponents::ViewSelection
+ * @package    RobotAPI::ViewSelection
  * @author     David Schiebener (schiebener at kit dot edu)
  * @author     Markus Grotz ( markus dot grotz at kit dot edu )
  * @date       2015
@@ -311,6 +311,17 @@ void ViewSelection::process()
 
         viewSelectionObserver->nextViewTarget(timeOfLastViewChange.toMilliSeconds() + duration);
 
+
+
+        /*
+         *
+        while (duration > 0 && !hasNewSaliencyMap)
+        {
+            //condition.wait_for(syncMutex , boost::chrono::milliseconds(100));
+            duration -= 100;
+        }
+         */
+
         boost::this_thread::sleep(boost::posix_time::milliseconds(duration));
     }
     else
@@ -388,7 +399,8 @@ void armarx::ViewSelection::updateSaliencyMap(const SaliencyMapBasePtr& map, con
 
 }
 
-void ViewSelection::drawSaliencyMap(const Ice::Current& c)
+
+void ViewSelection::drawSaliencySphere(const ::Ice::StringSeq& names, const Ice::Current& c)
 {
     ARMARX_LOG << "visualizing saliency map";
 
@@ -401,20 +413,30 @@ void ViewSelection::drawSaliencyMap(const Ice::Current& c)
     IceUtil::Time currentTime =  armarx::TimeUtil::GetTime();
     std::vector<std::string> activeSaliencyMaps;
 
-    for (const auto & p : saliencyMaps)
+    if (names.size())
     {
-        if (p.second->validUntil)
+        for (std::string n : names)
         {
-            TimestampVariantPtr time = TimestampVariantPtr::dynamicCast(p.second->validUntil);
-            if (time->toTime() > currentTime)
+            activeSaliencyMaps.push_back(n);
+        }
+    }
+    else
+    {
+        for (const auto & p : saliencyMaps)
+        {
+            if (p.second->validUntil)
+            {
+                TimestampVariantPtr time = TimestampVariantPtr::dynamicCast(p.second->validUntil);
+                if (time->toTime() > currentTime)
+                {
+                    activeSaliencyMaps.push_back(p.second->name);
+                }
+            }
+            else if ((currentTime - TimestampVariantPtr::dynamicCast(p.second->timeAdded)->toTime()) < IceUtil::Time::seconds(5))
             {
                 activeSaliencyMaps.push_back(p.second->name);
             }
         }
-        else if ((currentTime - TimestampVariantPtr::dynamicCast(p.second->timeAdded)->toTime()) < IceUtil::Time::seconds(5))
-        {
-            activeSaliencyMaps.push_back(p.second->name);
-        }
     }
 
 
@@ -447,12 +469,19 @@ void ViewSelection::drawSaliencyMap(const Ice::Current& c)
         Eigen::Vector3f dim = Eigen::Vector3f::Ones() * 15;
         DrawColor color = {r, g, b, 1.0};
 
+        //        drawer->setLineSetVisu();
+
         drawer->setBoxVisu("saliencyMap", "node_" + std::to_string(i), new Pose(pose), new Vector3(dim),  color);
 
     }
 
 }
 
+void ViewSelection::clearSaliencySphere(const Ice::Current& c)
+{
+    drawer->clearLayer("saliencyMap");
+}
+
 void ViewSelection::removeSaliencyMap(const string& name, const Ice::Current& c)
 {
     boost::mutex::scoped_lock lock(syncMutex);
@@ -465,6 +494,21 @@ void ViewSelection::removeSaliencyMap(const string& name, const Ice::Current& c)
     condition.notify_all();
 }
 
+Ice::StringSeq ViewSelection::getSaliencyMapNames(const Ice::Current& c)
+{
+
+    std::vector<std::string> names;
+
+    boost::mutex::scoped_lock lock(syncMutex);
+
+    for (const auto & p : saliencyMaps)
+    {
+        names.push_back(p.second->name);
+    }
+
+    return names;
+}
+
 
 PropertyDefinitionsPtr ViewSelection::createPropertyDefinitions()
 {

source/RobotAPI/components/ViewSelection/ViewSelection.h

@@ -84,7 +84,7 @@ namespace armarx
             defineOptionalProperty<std::string>("CameraFrameName", "VirtualCentralGaze", "Name of the frame of the head base in the robot model");
             defineOptionalProperty<int>("SleepingTimeBetweenViewDirectionChanges", 2500, "Time between two view changes, to keep the head looking into one direction for a while (in ms)");
             defineOptionalProperty<bool>("ActiveAtStartup", true, "Decide whether the automatic view selection will be activated (can be changed via the proxy during runtime)");
-            defineOptionalProperty<bool>("VisualizeViewDirection", false, "Draw view ray on DebugLayer.");
+            defineOptionalProperty<bool>("VisualizeViewDirection", true, "Draw view ray on DebugLayer.");
             defineOptionalProperty<float>("MaxOverallHeadTiltAngle", 55.0f, "Maximal angle the head and eyes can look down (in degrees)");
             defineOptionalProperty<float>("CentralHeadTiltAngle", 110.0f, "Defines the height direction that will be considered 'central' in the reachable area of the head (in degrees). Default is looking 20 degrees downwards");
             defineOptionalProperty<float>("ProbabilityToLookForALostObject", 0.03f, "Probability that one of the objects that have been seen but could later not been localized again will be included in the view selection");
@@ -180,7 +180,12 @@ namespace armarx
 
         void removeSaliencyMap(const std::string& name, const Ice::Current& c = ::Ice::Current());
 
-        void drawSaliencyMap(const Ice::Current& c = ::Ice::Current());
+        ::Ice::StringSeq getSaliencyMapNames(const Ice::Current& c = ::Ice::Current());
+
+        void drawSaliencySphere(const ::Ice::StringSeq& names, const Ice::Current& c = ::Ice::Current());
+
+        void clearSaliencySphere(const Ice::Current& c = ::Ice::Current());
+
 
     private:
 

source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidget.ui

@@ -19,28 +19,49 @@
      <x>10</x>
      <y>10</y>
      <width>360</width>
-     <height>80</height>
+     <height>114</height>
     </rect>
    </property>
    <layout class="QVBoxLayout" name="verticalLayout">
     <item>
      <layout class="QHBoxLayout" name="horizontalLayout">
       <item>
-       <widget class="QCheckBox" name="checkBox">
-        <property name="text">
-         <string>Enable automatic view selection</string>
-        </property>
-       </widget>
+       <widget class="QListWidget" name="listWidget"/>
       </item>
       <item>
-       <widget class="QPushButton" name="pushButton">
-        <property name="text">
-         <string>Draw Saliency Map</string>
-        </property>
-       </widget>
+       <layout class="QVBoxLayout" name="verticalLayout_2">
+        <item>
+         <widget class="QPushButton" name="pushButton_3">
+          <property name="text">
+           <string>Refresh</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="pushButton">
+          <property name="text">
+           <string>Draw Saliency Sphere</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="pushButton_2">
+          <property name="text">
+           <string>Clear Saliency Sphere</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
       </item>
      </layout>
     </item>
+    <item>
+     <widget class="QCheckBox" name="checkBox">
+      <property name="text">
+       <string>Enable automatic view selection</string>
+      </property>
+     </widget>
+    </item>
    </layout>
   </widget>
  </widget>

source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.cpp

@@ -22,6 +22,7 @@
 
 #include "ViewSelectionWidgetController.h"
 
+#include <QListWidgetItem>
 #include <string>
 
 using namespace armarx;
@@ -32,7 +33,12 @@ ViewSelectionWidgetController::ViewSelectionWidgetController()
 
     connect(widget.pushButton, SIGNAL(clicked()), this, SLOT(triggerSaliencyMapVisualization()));
 
+    connect(widget.pushButton_2, SIGNAL(clicked()), this, SLOT(clearSaliencyMapVisualization()));
+
+    connect(widget.pushButton_3, SIGNAL(clicked()), this, SLOT(updateSaliencyMapNames()));
+
     connect(widget.checkBox, SIGNAL(toggled(bool)), this, SLOT(toggleViewSelection(bool)));
+
 }
 
 
@@ -69,6 +75,7 @@ void ViewSelectionWidgetController::onInitComponent()
 {
     usingProxy(viewSelectionName);
     usingTopic(viewSelectionName + "Observer");
+
 }
 
 
@@ -104,14 +111,46 @@ void ViewSelectionWidgetController::toggleViewSelection(bool isEnabled)
     }
     else
     {
-
         viewSelection->deactivateAutomaticViewSelection();
     }
 }
 
 void ViewSelectionWidgetController::triggerSaliencyMapVisualization()
 {
-    viewSelection->drawSaliencyMap();
+    std::vector<std::string> names;
+
+    for (int r = 0; r < widget.listWidget->count(); r++)
+    {
+        QListWidgetItem* item = widget.listWidget->item(r);
+
+        if (item->checkState() == Qt::Checked)
+        {
+            names.push_back(item->text().toStdString());
+        }
+
+    }
+    viewSelection->drawSaliencySphere(names);
+
+}
+
+void ViewSelectionWidgetController::updateSaliencyMapNames()
+{
+    std::vector<std::string> names = viewSelection->getSaliencyMapNames();
+
+    widget.listWidget->clear();
+
+    for (std::string name : names)
+    {
+        QListWidgetItem* item = new QListWidgetItem(QString::fromStdString(name),  widget.listWidget);
+        item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
+        item->setCheckState(Qt::Unchecked);
+    }
+}
+
+
+void ViewSelectionWidgetController::clearSaliencyMapVisualization()
+{
+    viewSelection->clearSaliencySphere();
 }
 
 void armarx::ViewSelectionWidgetController::configured()

source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h

@@ -117,6 +117,8 @@ namespace armarx
     public slots:
 
         void triggerSaliencyMapVisualization();
+        void clearSaliencyMapVisualization();
+        void updateSaliencyMapNames();
         void toggleViewSelection(bool enabled);
         /* QT slot declarations */
 

source/RobotAPI/interface/components/ViewSelectionInterface.ice

@@ -77,8 +77,10 @@ module armarx
 
         void updateSaliencyMap(SaliencyMapBase map);
         void removeSaliencyMap(string name);
+        ::Ice::StringSeq getSaliencyMapNames();
 
-        void drawSaliencyMap();
+        void drawSaliencySphere(::Ice::StringSeq names);
+        void clearSaliencySphere();
     };