From bc2aad209d88295c51423c456e31ad73eb8df894 Mon Sep 17 00:00:00 2001
From: phesch <ulila@student.kit.edu>
Date: Mon, 9 May 2022 19:53:45 +0200
Subject: [PATCH] Add time offset and window params to ObjMem Visu
---
.../armem_objects/server/instance/Visu.cpp | 23 +++++++++++++++----
.../armem_objects/server/instance/Visu.h | 7 +++++-
2 files changed, 25 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
index 131a60865..07ded4465 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
@@ -49,8 +49,12 @@ namespace armarx::armem::server::obj::instance
defs->optional(useArticulatedModels, prefix + "useArticulatedModels",
"Prefer articulated object models if available.");
- defs->optional(showLinearPredictions, prefix + "showLinearPredictions",
+ defs->optional(showLinearPredictions, prefix + "predictions.linear.show",
"Show arrows linearly predicting object positions.");
+ defs->optional(linearPredictionTimeOffsetSeconds, prefix + "predictions.linear.timeOffset",
+ "The offset (in seconds) to the current time to make predictions for.");
+ defs->optional(linearPredictionTimeWindowSeconds, prefix + "predictions.linear.timeWindow",
+ "The time window (in seconds) into the past to perform the regression on.");
}
@@ -247,9 +251,9 @@ namespace armarx::armem::server::obj::instance
objpose::ObjectPosePredictionRequest request;
toIce(request.objectID, id);
request.settings.predictionEngineID = "Linear Position Regression";
- toIce(request.timeWindow, Duration::Seconds(2));
- // TODO(phesch): Make parametrizable.
- toIce(request.timestamp, Time::Now() + Duration::MilliSeconds(1000));
+ toIce(request.timeWindow, Duration::SecondsDouble(linearPredictionTimeWindowSeconds));
+ toIce(request.timestamp,
+ Time::Now() + Duration::SecondsDouble(linearPredictionTimeOffsetSeconds));
auto predictionResult = predictor(request);
if (predictionResult.success)
{
@@ -302,6 +306,9 @@ namespace armarx::armem::server::obj::instance
useArticulatedModels.setValue(visu.useArticulatedModels);
showLinearPredictions.setValue(visu.showLinearPredictions);
+ linearPredictionTimeOffsetSeconds.setValue(visu.linearPredictionTimeOffsetSeconds);
+ linearPredictionTimeWindowSeconds.setValue(visu.linearPredictionTimeWindowSeconds);
+ linearPredictionTimeWindowSeconds.setRange(0, std::numeric_limits<float>::max());
GridLayout grid;
int row = 0;
@@ -330,6 +337,12 @@ namespace armarx::armem::server::obj::instance
grid.add(Label("Show Linear Predictions"), {row, 0}).add(showLinearPredictions, {row, 1});
row++;
+ grid.add(Label("Time (seconds from now):"), {row, 0})
+ .add(linearPredictionTimeOffsetSeconds, {row, 1});
+ row++;
+ grid.add(Label("Time Window (seconds):"), {row, 0})
+ .add(linearPredictionTimeWindowSeconds, {row, 1});
+ row++;
group = GroupBox();
group.setLabel("Visualization");
@@ -380,6 +393,8 @@ namespace armarx::armem::server::obj::instance
visu.useArticulatedModels = useArticulatedModels.getValue();
visu.showLinearPredictions = showLinearPredictions.getValue();
+ visu.linearPredictionTimeOffsetSeconds = linearPredictionTimeOffsetSeconds.getValue();
+ visu.linearPredictionTimeWindowSeconds = linearPredictionTimeWindowSeconds.getValue();
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
index 8803e4d73..a88e3d2c8 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
@@ -87,8 +87,10 @@ namespace armarx::armem::server::obj::instance
/// Prefer articulated models if available.
bool useArticulatedModels = true;
- /// Show linear prediction arrows for object positions.
+ /// Linear prediction arrows for object positions.
bool showLinearPredictions = false;
+ float linearPredictionTimeOffsetSeconds = 1;
+ float linearPredictionTimeWindowSeconds = 2;
SimpleRunningTask<>::pointer_type updateTask;
@@ -128,6 +130,9 @@ namespace armarx::armem::server::obj::instance
armarx::RemoteGui::Client::CheckBox showLinearPredictions;
+ armarx::RemoteGui::Client::FloatSpinBox linearPredictionTimeOffsetSeconds;
+ armarx::RemoteGui::Client::FloatSpinBox linearPredictionTimeWindowSeconds;
+
void setup(const Visu& visu);
void update(Visu& visu);
--
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