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Commit 3b04ab9e authored by Fabian Reister's avatar Fabian Reister
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2 merge requests!157armem/dev => master,!144robot state memory update
This commit is part of merge request !157. Comments created here will be created in the context of that merge request.
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source/RobotAPI/libraries/armem_robot_state/server/localization/Visu.cpp deleted 100644 → 0
+ 0
− 170
View file @ 1f95165e
#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
source/RobotAPI/libraries/armem_robot_state/server/localization/Visu.h deleted 100644 → 0
+ 0
− 101
View file @ 1f95165e
/*
* 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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