diff --git a/source/RobotAPI/components/ViewSelection/ViewSelection.cpp b/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
index 5f16a3173d3a9bcdb06990aa00381fe7bc67aab2..2a6cd2d94fd6866e69fbee5b2aaaa3fa9c692471 100644
--- a/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
+++ b/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()
{
diff --git a/source/RobotAPI/components/ViewSelection/ViewSelection.h b/source/RobotAPI/components/ViewSelection/ViewSelection.h
index d04451875506349e89689c52a1614e31c6f59109..6c0d477b439b194572ded8463bfaf83c877fa0c9 100644
--- a/source/RobotAPI/components/ViewSelection/ViewSelection.h
+++ b/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:
diff --git a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidget.ui b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidget.ui
index e5a6f669f4ad04f08df47c564192044415cac757..9f62637a4f60c7ccd7d8a3da5a717f06bd049a87 100644
--- a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidget.ui
+++ b/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>
diff --git a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.cpp b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.cpp
index 9ee4739c7edd0c80869704cc77c02eec4b6e89f5..aa366549f925c7f97406fce61383272ffe3bcf3e 100644
--- a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.cpp
+++ b/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()
diff --git a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h
index 02bd2dd188d9ca294cafb54788fbab46fe3d6ef7..b0c9ccb75326d33f2bd634c69334f14829ac1df2 100644
--- a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h
+++ b/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 */
diff --git a/source/RobotAPI/interface/components/ViewSelectionInterface.ice b/source/RobotAPI/interface/components/ViewSelectionInterface.ice
index 19fb28c80c6e54a7ddcf54840276e6143cf4578d..df3fc7d0b05484a8b49c4d52c64c291bfc7f9d3f 100755
--- a/source/RobotAPI/interface/components/ViewSelectionInterface.ice
+++ b/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();
};