Only show objects with confidence above threshold

source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp

@@ -110,7 +110,7 @@ namespace armarx
                 providing.timestamp = DateTime::Now();
             }
 
-            if (current.confidence > 0)
+            if (current.confidence > properties.confidenceThreshold)
             {
                 remainingPoses.push_back(current);
             }
@@ -130,7 +130,10 @@ namespace armarx
 
         for (objpose::ObjectPose & objectPose: storedPoses)
         {
-            visualizeObject(objectPose);
+            if (objectPose.confidence > properties.confidenceThreshold)
+            {
+                visualizeObject(objectPose);
+            }
         }
 
         changes.visualizeNewObjects(this);

source/RobotAPI/components/InteractiveMemoryEditor/Editor.h

@@ -18,6 +18,7 @@ namespace armarx
         {
             std::string providerName;
             float const& objectScaling;
+            float const& confidenceThreshold;
         };
 
         explicit Editor(viz::Client& client,

source/RobotAPI/components/InteractiveMemoryEditor/InteractiveMemoryEditor.cpp

@@ -16,6 +16,9 @@ namespace armarx
         defs->optional(this->objectScaling, "Editor.ObjectScaling",
                        "Scaling factor that is applied to all intractable objects.");
 
+        defs->optional(this->confidenceThreshold, "Editor.ConfidenceThreshold",
+                       "Only objects with a confidence greater than this value are shown.");
+
         return defs;
     }
 
@@ -63,7 +66,12 @@ namespace armarx
 
         objpose::ObjectPoseClient client = getClient();
 
-        Editor::Properties properties = { .providerName = getName(), .objectScaling = objectScaling };
+        Editor::Properties properties =
+        {
+            .providerName = getName(),
+            .objectScaling = objectScaling,
+            .confidenceThreshold = confidenceThreshold
+        };
 
         Editor editor(arviz, properties,
                       [&](objpose::ProvidedObjectPoseSeq &poses)

source/RobotAPI/components/InteractiveMemoryEditor/InteractiveMemoryEditor.h

@@ -41,6 +41,7 @@ namespace armarx
         objpose::ProviderInfo providerInfo;
 
         float objectScaling = 1.01F;
+        float confidenceThreshold = 0.0F;
 
         armarx::SimpleRunningTask<>::pointer_type objectVizTask;
     };