confidence-based visu of familiar objects

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);
                     }
                 }