From 3b04ab9ee1c62a70e6bc1d11e2b5a34c8672ff9a Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 12 May 2021 17:04:26 +0200
Subject: [PATCH] deleting files
---
.../server/localization/Visu.cpp | 170 ------------------
.../server/localization/Visu.h | 101 -----------
2 files changed, 271 deletions(-)
delete mode 100644 source/RobotAPI/libraries/armem_robot_state/server/localization/Visu.cpp
delete mode 100644 source/RobotAPI/libraries/armem_robot_state/server/localization/Visu.h
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Visu.cpp b/source/RobotAPI/libraries/armem_robot_state/server/localization/Visu.cpp
deleted file mode 100644
index d8ad38bbc..000000000
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Visu.cpp
+++ /dev/null
@@ -1,170 +0,0 @@
-#include "Visu.h"
-#include "ArmarXCore/core/logging/Logging.h"
-#include "ArmarXCore/core/time/CycleUtil.h"
-
-#include <algorithm>
-
-#include <SimoxUtility/math/pose.h>
-
-#include <ArmarXCore/core/time/TimeUtil.h>
-
-#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
-
-#include "Segment.h"
-
-namespace armarx::armem::server::obj::articulated_object_instance
-{
-
- void Visu::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
- {
- defs->optional(p.enabled, prefix + "enabled",
- "Enable or disable visualization of objects.");
- defs->optional(p.frequencyHz, prefix + "frequenzyHz",
- "Frequency of visualization.");
- }
-
-
- viz::Layer Visu::visualizeProvider(
- const std::string& providerName,
- const armarx::armem::articulated_object::ArticulatedObjects& objects) const
- {
- viz::Layer layer = arviz.layer(providerName);
-
- visualizeRobots(layer, objects);
-
- return layer;
- }
-
-
- void Visu::visualizeR(viz::Layer& layer, const armarx::armem::articulated_object::ArticulatedObjects& objects) const
- {
- const auto visualizeObject = [&](const armarx::armem::articulated_object::ArticulatedObject & obj)
- {
-
- const auto xmlPath = obj.description.xml.serialize();
-
- // clang-format off
- auto robot = viz::Robot(obj.description.name)
- // .file(xmlPath.package, xmlPath.path)
- .file("ArmarXObjects", "./data/ArmarXObjects/Environment/mobile-kitchen/dishwasher-only/dishwasher.xml")
- .joints(obj.config.jointMap)
- .pose(obj.config.globalPose);
-
- robot.useFullModel();
- // clang-format on
-
- layer.add(robot);
- };
-
- std::for_each(objects.begin(), objects.end(), visualizeObject);
-
- }
-
- void Visu::init()
- {
- updateTask = new SimpleRunningTask<>([this]()
- {
- this->visualizeRun();
- });
- updateTask->start();
- }
-
-
- // void Visu::RemoteGui::setup(const Visu& visu)
- // {
- // using namespace armarx::RemoteGui::Client;
-
- // enabled.setValue(visu.enabled);
- // inGlobalFrame.setValue(visu.inGlobalFrame);
- // alpha.setRange(0, 1.0);
- // alpha.setValue(visu.alpha);
- // alphaByConfidence.setValue(visu.alphaByConfidence);
- // oobbs.setValue(visu.oobbs);
- // objectFrames.setValue(visu.objectFrames);
- // {
- // float max = 10000;
- // objectFramesScale.setRange(0, max);
- // objectFramesScale.setDecimals(2);
- // objectFramesScale.setSteps(int(10 * max));
- // objectFramesScale.setValue(visu.objectFramesScale);
- // }
-
- // GridLayout grid;
- // int row = 0;
- // grid.add(Label("Enabled"), {row, 0}).add(enabled, {row, 1});
- // row++;
- // grid.add(Label("Global Frame"), {row, 0}).add(inGlobalFrame, {row, 1});
- // row++;
- // grid.add(Label("Alpha"), {row, 0}).add(alpha, {row, 1}, {1, 3});
- // row++;
- // grid.add(Label("Alpha by Confidence"), {row, 0}).add(alphaByConfidence, {row, 1});
- // row++;
- // grid.add(Label("OOBB"), {row, 0}).add(oobbs, {row, 1});
- // row++;
- // grid.add(Label("Object Frames"), {row, 0}).add(objectFrames, {row, 1});
- // grid.add(Label("Scale:"), {row, 2}).add(objectFramesScale, {row, 3});
- // row++;
-
- // group.setLabel("Visualization");
- // group.addChild(grid);
- // }
-
- // void Visu::RemoteGui::update(Visu& visu)
- // {
- // visu.enabled = enabled.getValue();
- // visu.inGlobalFrame = inGlobalFrame.getValue();
- // visu.alpha = alpha.getValue();
- // visu.alphaByConfidence = alphaByConfidence.getValue();
- // visu.oobbs = oobbs.getValue();
- // visu.objectFrames = objectFrames.getValue();
- // visu.objectFramesScale = objectFramesScale.getValue();
- // }
-
-
- void Visu::visualizeRun()
- {
- CycleUtil cycle(static_cast<int>(1000 / p.frequencyHz));
- while (updateTask && not updateTask->isStopped())
- {
- {
- // std::scoped_lock lock(visuMutex);
- ARMARX_IMPORTANT << "Update task";
-
- if (p.enabled)
- {
- // TIMING_START(Visu);
-
- const auto articulatedObjects = segment.getArticulatedObjects();
-
- ARMARX_INFO << "Found " << articulatedObjects.size() << " articulated objects";
-
- viz::Layer layer = arviz.layer("ArticulatedObjectInstances");
-
- ARMARX_INFO << "visualizing objects";
- visualizeObjects(layer, articulatedObjects);
-
- ARMARX_INFO << "Committing objects";
-
- arviz.commit({layer});
-
- ARMARX_INFO << "Done committing";
-
-
- // TIMING_END_STREAM(Visu, ARMARX_VERBOSE);
-
- // if (debugObserver)
- // {
- // debugObserver->setDebugChannel(getName(),
- // {
- // { "t Visualize [ms]", new Variant(Visu.toMilliSecondsDouble()) },
- // });
- // }
- }
- }
- cycle.waitForCycleDuration();
- }
- }
-
-
-
-} // namespace armarx::armem::server::obj::articulated_object_instance
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Visu.h b/source/RobotAPI/libraries/armem_robot_state/server/localization/Visu.h
deleted file mode 100644
index 54aea5e09..000000000
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Visu.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @author Fabian Reister ( fabian dot reister at kit dot edu )
- * @date 2021
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#pragma once
-
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/services/tasks/TaskUtil.h>
-
-// #include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
-
-#include <RobotAPI/components/ArViz/Client/Client.h>
-
-#include <RobotAPI/libraries/armem_objects/types.h>
-
-
-namespace armarx
-{
- class ObjectFinder;
-}
-namespace armarx::armem::server::obj::articulated_object_instance
-{
- class Segment;
-
- /**
- * @brief Models decay of object localizations by decreasing the confidence
- * the longer the object was not localized.
- */
- class Visu : public armarx::Logging
- {
- public:
-
- Visu(const viz::Client& arviz, const Segment& segment): arviz(arviz), segment(segment) {}
-
- void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "visu.");
-
- void init();
-
- protected:
- viz::Layer visualizeProvider(
- const std::string& providerName,
- const armarx::armem::articulated_object::ArticulatedObjects& objects
- ) const;
-
- void visualizeObjects(
- viz::Layer& layer,
- const armarx::armem::articulated_object::ArticulatedObjects& objects
- ) const;
-
-
- private:
- viz::Client arviz;
- const Segment& segment;
-
- struct Properties
- {
- bool enabled = true;
- float frequencyHz = 25;
- } p;
-
-
- SimpleRunningTask<>::pointer_type updateTask;
- void visualizeRun();
-
- // struct RemoteGui
- // {
- // armarx::RemoteGui::Client::GroupBox group;
-
- // armarx::RemoteGui::Client::CheckBox enabled;
-
- // armarx::RemoteGui::Client::CheckBox inGlobalFrame;
- // armarx::RemoteGui::Client::FloatSlider alpha;
- // armarx::RemoteGui::Client::CheckBox alphaByConfidence;
- // armarx::RemoteGui::Client::CheckBox oobbs;
- // armarx::RemoteGui::Client::CheckBox objectFrames;
- // armarx::RemoteGui::Client::FloatSpinBox objectFramesScale;
-
- // // void setup(const Visu& visu);
- // // void update(Visu& visu);
- // };
-
- };
-
-} // namespace armarx::armem::server::obj::articulated_object_instance
--
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