diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 331d7b35ed6d9720e1436a3776026783caf179b4..990b2cea609c44a563f1009da27fe079359e5e9f 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -40,8 +40,9 @@ namespace armarx::armem::server::obj
defs->topic<objpose::ObjectPoseTopic>(); // "ObjectPoseTopic", "ObjectPoseTopicName", "Name of the Object Pose Topic.");
// Use
- defs->component(kinematicUnitObserver);
-
+ // defs->component(kinematicUnitObserver); // Optional dependency.
+ defs->defineOptionalProperty<std::string>("cmp.KinematicUnitObserverName", "KinematicUnitObserver",
+ "Name of the kinematic unit observer.");
const std::string prefix = "mem.";
@@ -83,7 +84,7 @@ namespace armarx::armem::server::obj
}
robotStateComponent = getRobotStateComponent();
- // getProxyFromProperty(kinematicUnitObserver, "KinematicUnitObserverName", false, "", false);
+ getProxyFromProperty(kinematicUnitObserver, "cmp.KinematicUnitObserverName", false, "", false);
instance::SegmentAdapter::connect(
robotStateComponent, robot,
@@ -113,7 +114,7 @@ namespace armarx::armem::server::obj
VBoxLayout root =
{
- tab.instance.root,
+ tab.instance.group,
VSpacer()
};
RemoteGui_createTab(Component::getName(), root, &tab);
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 0e1cc8cf6be52d8865d15ba0ad6886d9886f5729..8425a15ed88c1a7a27ce540a75c348c12f81ea4a 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -52,8 +52,9 @@ namespace armarx::armem::server::obj::instance
void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
- defs->optional(maxHistorySize, "mem.MaxHistorySize", "Maximal size of object poses history (-1 for infinite).");
- defs->optional(discardSnapshotsWhileAttached, "mem.DiscardSnapshotsWhileAttached",
+ defs->optional(p.coreSegmentName, prefix + "CoreSegmentName", "Name of the object instance core segment.");
+ defs->optional(p.maxHistorySize, prefix + "MaxHistorySize", "Maximal size of object poses history (-1 for infinite).");
+ defs->optional(p.discardSnapshotsWhileAttached, prefix + "DiscardSnapshotsWhileAttached",
"If true, no new snapshots are stored while an object is attached to a robot node.\n"
"If false, new snapshots are stored, but the attachment is kept in the new snapshots.");
@@ -64,8 +65,8 @@ namespace armarx::armem::server::obj::instance
{
ARMARX_CHECK_NOT_NULL(iceMemory.memory);
- coreSegment = &iceMemory.memory->addCoreSegment("ObjectPose", objpose::arondto::ObjectPose::toInitialAronType());
- coreSegment->setMaxHistorySize(maxHistorySize);
+ coreSegment = &iceMemory.memory->addCoreSegment(p.coreSegmentName, objpose::arondto::ObjectPose::toInitialAronType());
+ coreSegment->setMaxHistorySize(p.maxHistorySize);
}
@@ -102,7 +103,7 @@ namespace armarx::armem::server::obj::instance
}
else if (previousPose)
{
- if (discardSnapshotsWhileAttached && previousPose->attachment)
+ if (p.discardSnapshotsWhileAttached && previousPose->attachment)
{
// Discard update due to active attachemnt.
discard = true;
@@ -125,7 +126,7 @@ namespace armarx::armem::server::obj::instance
if (previousPose && previousPose->attachment)
{
// Keep current attachment.
- ARMARX_CHECK(!discardSnapshotsWhileAttached);
+ ARMARX_CHECK(!p.discardSnapshotsWhileAttached);
newPose.attachment = previousPose->attachment;
}
@@ -638,10 +639,10 @@ namespace armarx::armem::server::obj::instance
{
using namespace armarx::RemoteGui::Client;
- maxHistorySize.setValue(std::max(1, int(data.maxHistorySize)));
+ maxHistorySize.setValue(std::max(1, int(data.p.maxHistorySize)));
maxHistorySize.setRange(1, 1e6);
- infiniteHistory.setValue(data.maxHistorySize == -1);
- discardSnapshotsWhileAttached.setValue(data.discardSnapshotsWhileAttached);
+ infiniteHistory.setValue(data.p.maxHistorySize == -1);
+ discardSnapshotsWhileAttached.setValue(data.p.discardSnapshotsWhileAttached);
GridLayout grid;
int row = 0;
@@ -649,7 +650,7 @@ namespace armarx::armem::server::obj::instance
row++;
grid.add(Label("Infinite History Size"), {row, 0}).add(infiniteHistory, {row, 1});
row++;
- grid.add(Label("Discard Snapshots while attached"), {row, 0}).add(discardSnapshotsWhileAttached, {row, 1});
+ grid.add(Label("Discard Snapshots while Attached"), {row, 0}).add(discardSnapshotsWhileAttached, {row, 1});
row++;
group.setLabel("Data");
@@ -660,14 +661,14 @@ namespace armarx::armem::server::obj::instance
{
if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
{
- data.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
+ data.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
if (data.coreSegment)
{
- data.coreSegment->setMaxHistorySize(long(data.maxHistorySize));
+ data.coreSegment->setMaxHistorySize(long(data.p.maxHistorySize));
}
}
- data.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
+ data.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index 275d9973856bc2a59a71c633374e98bee34cc845..20ee8ffdfe3f786e7cea0be8a5f71589437153cc 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -152,8 +152,13 @@ namespace armarx::armem::server::obj::instance
armem::CoreSegment* coreSegment = nullptr;
- long maxHistorySize = -1;
- bool discardSnapshotsWhileAttached = true;
+ struct Properties
+ {
+ std::string coreSegmentName = "Instance";
+ long maxHistorySize = -1;
+ bool discardSnapshotsWhileAttached = true;
+ };
+ Properties p;
/// Caches results of attempts to retrieve the OOBB from ArmarXObjects.
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index 91fa17d0317b1e081c35b8032aace7f64ce92912..d44f5dfa0f1eb73ac3cf5a41af76b9b2532aa1d7 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -38,7 +38,7 @@ namespace armarx::armem::server::obj::instance
{
SegmentAdapter::SegmentAdapter(MemoryToIceAdapter& iceMemory, std::mutex& memoryMutex) :
- data(iceMemory),
+ segment(iceMemory),
memoryMutex(memoryMutex)
{
}
@@ -51,19 +51,19 @@ namespace armarx::armem::server::obj::instance
void SegmentAdapter::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
calibration.defineProperties(defs, prefix + "calibration.");
- data.defineProperties(defs, prefix);
+ segment.defineProperties(defs, prefix);
robotHead.defineProperties(defs, prefix + "head.");
visu.defineProperties(defs, prefix + "visu.");
}
void SegmentAdapter::init()
{
- data.setTag(getName());
- data.decay.setTag(getName());
+ segment.setTag(getName());
+ segment.decay.setTag(getName());
robotHead.setTag(getName());
visu.setTag(getName());
- data.init();
+ segment.init();
}
void SegmentAdapter::connect(
@@ -77,8 +77,8 @@ namespace armarx::armem::server::obj::instance
this->debugObserver = debugObserver;
this->arviz = arviz;
- data.robot = robot;
- data.robotStateComponent = robotStateComponent;
+ segment.robot = robot;
+ segment.robotStateComponent = robotStateComponent;
robotHead.kinematicUnitObserver = kinematicUnitObserver;
robotHead.debugObserver = debugObserver;
@@ -126,7 +126,7 @@ namespace armarx::armem::server::obj::instance
}
ARMARX_VERBOSE << "Provider '" << providerName << "' available.\n"
<< "Supported objects: \n" << ss.str();
- data.providers[providerName] = info;
+ segment.providers[providerName] = info;
}
}
@@ -160,18 +160,18 @@ namespace armarx::armem::server::obj::instance
{
std::scoped_lock lock(memoryMutex);
- RemoteRobot::synchronizeLocalClone(data.robot, data.robotStateComponent);
+ RemoteRobot::synchronizeLocalClone(segment.robot, segment.robotStateComponent);
- if (data.robot->hasRobotNode(calibration.robotNode))
+ if (segment.robot->hasRobotNode(calibration.robotNode))
{
- VirtualRobot::RobotNodePtr robotNode = data.robot->getRobotNode(calibration.robotNode);
+ VirtualRobot::RobotNodePtr robotNode = segment.robot->getRobotNode(calibration.robotNode);
float value = robotNode->getJointValue();
robotNode->setJointValue(value + calibration.offset);
}
TIMING_START(tCommitObjectPoses);
Segment::CommitStats stats =
- data.commitObjectPoses(providerName, providedPoses, discard.updatesUntil);
+ segment.commitObjectPoses(providerName, providedPoses, discard.updatesUntil);
TIMING_END_STREAM(tCommitObjectPoses, ARMARX_VERBOSE);
if (debugObserver)
@@ -201,9 +201,9 @@ namespace armarx::armem::server::obj::instance
void SegmentAdapter::handleProviderUpdate(const std::string& providerName)
{
// Initialized to 0 on first access.
- if (data.providers.count(providerName) == 0)
+ if (segment.providers.count(providerName) == 0)
{
- data.providers[providerName] = objpose::ProviderInfo();
+ segment.providers[providerName] = objpose::ProviderInfo();
}
}
@@ -217,7 +217,7 @@ namespace armarx::armem::server::obj::instance
TIMING_END_STREAM(tGetObjectPosesLock, ARMARX_VERBOSE);
const IceUtil::Time now = TimeUtil::GetTime();
- const objpose::data::ObjectPoseSeq result = objpose::toIce(data.getObjectPoses(now));
+ const objpose::data::ObjectPoseSeq result = objpose::toIce(segment.getObjectPoses(now));
TIMING_END_STREAM(tGetObjectPoses, ARMARX_VERBOSE);
@@ -242,7 +242,7 @@ namespace armarx::armem::server::obj::instance
TIMING_END_STREAM(GetObjectPosesLock, ARMARX_VERBOSE);
const IceUtil::Time now = TimeUtil::GetTime();
- const objpose::data::ObjectPoseSeq result = objpose::toIce(data.getObjectPosesByProvider(providerName, now));
+ const objpose::data::ObjectPoseSeq result = objpose::toIce(segment.getObjectPosesByProvider(providerName, now));
TIMING_END_STREAM(GetObjectPoses, ARMARX_VERBOSE);
@@ -271,7 +271,7 @@ namespace armarx::armem::server::obj::instance
{
if (proxies.count(providerName) == 0)
{
- if (auto it = data.providers.find(providerName); it != data.providers.end())
+ if (auto it = segment.providers.find(providerName); it != segment.providers.end())
{
proxies[providerName] = it->second.proxy;
}
@@ -294,7 +294,7 @@ namespace armarx::armem::server::obj::instance
for (const auto& objectID : input.request.objectIDs)
{
bool found = true;
- for (const auto& [providerName, info] : data.providers)
+ for (const auto& [providerName, info] : segment.providers)
{
// ToDo: optimize look up.
if (std::find(info.supportedObjects.begin(), info.supportedObjects.end(), objectID) != info.supportedObjects.end())
@@ -337,25 +337,25 @@ namespace armarx::armem::server::obj::instance
objpose::ProviderInfoMap SegmentAdapter::getAvailableProvidersInfo(const Ice::Current&)
{
std::scoped_lock lock(memoryMutex);
- return data.providers;
+ return segment.providers;
}
Ice::StringSeq SegmentAdapter::getAvailableProviderNames(const Ice::Current&)
{
std::scoped_lock lock(memoryMutex);
- return simox::alg::get_keys(data.providers);
+ return simox::alg::get_keys(segment.providers);
}
objpose::ProviderInfo SegmentAdapter::getProviderInfo(const std::string& providerName, const Ice::Current&)
{
std::scoped_lock lock(memoryMutex);
- return data.getProviderInfo(providerName);
+ return segment.getProviderInfo(providerName);
}
bool SegmentAdapter::hasProvider(const std::string& providerName, const Ice::Current&)
{
std::scoped_lock lock(memoryMutex);
- return data.providers.count(providerName) > 0;
+ return segment.providers.count(providerName) > 0;
}
@@ -363,21 +363,21 @@ namespace armarx::armem::server::obj::instance
const objpose::AttachObjectToRobotNodeInput& input, const Ice::Current&)
{
std::scoped_lock lock(memoryMutex);
- return data.attachObjectToRobotNode(input);
+ return segment.attachObjectToRobotNode(input);
}
objpose::DetachObjectFromRobotNodeOutput SegmentAdapter::detachObjectFromRobotNode(
const objpose::DetachObjectFromRobotNodeInput& input, const Ice::Current&)
{
std::scoped_lock lock(memoryMutex);
- return data.detachObjectFromRobotNode(input);
+ return segment.detachObjectFromRobotNode(input);
}
objpose::DetachAllObjectsFromRobotNodesOutput SegmentAdapter::detachAllObjectsFromRobotNodes(
const objpose::DetachAllObjectsFromRobotNodesInput& input, const Ice::Current&)
{
std::scoped_lock lock(memoryMutex);
- return data.detachAllObjectsFromRobotNodes(input);
+ return segment.detachAllObjectsFromRobotNodes(input);
}
@@ -386,7 +386,7 @@ namespace armarx::armem::server::obj::instance
std::scoped_lock lock(memoryMutex);
objpose::AgentFramesSeq output;
- std::vector<VirtualRobot::RobotPtr> agents = { data.robot };
+ std::vector<VirtualRobot::RobotPtr> agents = { segment.robot };
for (VirtualRobot::RobotPtr agent : agents)
{
objpose::AgentFrames& frames = output.emplace_back();
@@ -423,11 +423,11 @@ namespace armarx::armem::server::obj::instance
std::scoped_lock lock(memoryMutex);
const IceUtil::Time now = TimeUtil::GetTime();
- objectPoses = data.getObjectPoses(now);
- objectFinder = data.objectFinder;
- if (data.decay.enabled)
+ objectPoses = segment.getObjectPoses(now);
+ objectFinder = segment.objectFinder;
+ if (segment.decay.enabled)
{
- visu.minConfidence = data.decay.removeObjectsBelowConfidence;
+ visu.minConfidence = segment.decay.removeObjectsBelowConfidence;
}
}
const std::vector<viz::Layer> layers = visu.visualizeCommit(objectPoses, objectFinder);
@@ -462,15 +462,18 @@ namespace armarx::armem::server::obj::instance
using namespace armarx::RemoteGui::Client;
this->visu.setup(adapter.visu);
- this->data.setup(adapter.data);
- this->decay.setup(adapter.data.decay);
+ this->segment.setup(adapter.segment);
+ this->decay.setup(adapter.segment.decay);
this->robotHead.setup(adapter.robotHead);
- root = VBoxLayout
+ layout = VBoxLayout
{
- this->visu.group, this->data.group, this->decay.group, this->robotHead.group,
+ this->visu.group, this->segment.group, this->decay.group, this->robotHead.group,
VSpacer()
};
+
+ group.setLabel("Instance");
+ group.addChild(layout);
}
void SegmentAdapter::RemoteGui::update(SegmentAdapter& adapter)
@@ -482,8 +485,8 @@ namespace armarx::armem::server::obj::instance
}
{
std::scoped_lock lock(adapter.memoryMutex);
- this->data.update(adapter.data);
- this->decay.update(adapter.data.decay);
+ this->segment.update(adapter.segment);
+ this->decay.update(adapter.segment.decay);
}
{
std::scoped_lock lock(adapter.robotHeadMutex);
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h
index 9819a162eee886fcb1e7878f5787b866d1273c82..a1e356e53c77608937b0df952798d0427a3cc86b 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h
@@ -126,7 +126,7 @@ namespace armarx::armem::server::obj::instance
viz::Client arviz;
DebugObserverInterfacePrx debugObserver;
- instance::Segment data;
+ instance::Segment segment;
std::mutex& memoryMutex;
instance::RobotHeadMovement robotHead;
@@ -150,10 +150,11 @@ namespace armarx::armem::server::obj::instance
struct RemoteGui
{
- armarx::RemoteGui::Client::VBoxLayout root;
+ armarx::RemoteGui::Client::GroupBox group;
+ armarx::RemoteGui::Client::VBoxLayout layout;
instance::Visu::RemoteGui visu;
- instance::Segment::RemoteGui data;
+ instance::Segment::RemoteGui segment;
instance::Decay::RemoteGui decay;
instance::RobotHeadMovement::RemoteGui robotHead;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
index 3689a9bd1534d4e405cdf3fa8de92f0963df90c3..cc85dc53c51871fad99a57b044e823c49ed6f224 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
@@ -156,7 +156,7 @@ namespace armarx::armem::server::obj::instance
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});
+ grid.add(Label("Alpha by Confidence"), {row, 0}).add(alphaByConfidence, {row, 1});
row++;
grid.add(Label("OOBB"), {row, 0}).add(oobbs, {row, 1});
row++;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
index 99f6857a6e89a953cd20565dd973d6417c9a4a4e..1cd1d41c835e56e820ce3db8b3397b1e117d8202 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
@@ -56,7 +56,7 @@ namespace armarx::armem::server::obj::instance
viz::Client arviz;
- bool enabled = false;
+ bool enabled = true;
float frequencyHz = 25;
bool inGlobalFrame = true;