From 9496f6f1224f84f1f9c195f90819eddcda290b21 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Sun, 24 Nov 2024 08:01:13 +0100
Subject: [PATCH] confidence-based visu of familiar objects
---
.../server/familiar_object_instance/Visu.cpp | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp b/source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp
index 39604fa3d..f7a8f7adb 100644
--- a/source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp
@@ -3,6 +3,7 @@
#include <Eigen/Geometry>
#include <SimoxUtility/color/Color.h>
+#include <SimoxUtility/color/cmaps/colormaps.h>
#include <SimoxUtility/math/pose.h>
#include <SimoxUtility/math/rescale.h>
@@ -72,6 +73,9 @@ namespace armarx::armem::server::obj::familiar_object_instance
auto layerPointCloud = arviz.layer("familiar_objects/points/" + providerName);
auto layerBox = arviz.layer("familiar_objects/box/" + providerName);
+ auto confidenceCmap = simox::color::cmaps::viridis();
+ confidenceCmap.set_vlimits(0, 1);
+
for (const auto& familiarObject : familiarObjects)
{
if (not isWithinTimeFrame(familiarObject))
@@ -120,7 +124,11 @@ namespace armarx::armem::server::obj::familiar_object_instance
auto box = viz::Box(objectId.str());
box.pose(global_T_bb.matrix());
box.size(familiarObject.bounding_box.extents);
- box.color(simox::Color::gray(128, alpha));
+
+ auto color = confidenceCmap.at(familiarObject.confidence);
+ color.a = alpha;
+
+ box.color(color);
layerBox.add(box);
}
}
--
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