update AffordancePipelineVisualization

- add parameter to manually specify a file

source/VisionX/components/AffordancePipelineVisualization/AffordancePipelineVisualization.cpp

@@ -98,6 +98,36 @@ void AffordancePipelineVisualization::onInitComponent()
 
 void AffordancePipelineVisualization::onConnectComponent()
 {
+
+
+    debugDrawerTopicPrx = getTopic<DebugDrawerInterfacePrx>(getProperty<std::string>("DebugDrawerTopicName").getValue());
+    if (!debugDrawerTopicPrx)
+    {
+        ARMARX_ERROR << "Failed to obtain debug drawer proxy";
+        return;
+    }
+
+    affordanceVisualizationTopicPrx = getTopic<AffordancePipelineVisualizationListenerPrx>(getProperty<std::string>("VisualizationUpdateTopicName").getValue());
+    if (!affordanceVisualizationTopicPrx)
+    {
+        ARMARX_ERROR << "Failed to obtain affordance visualization topic proxy";
+        return;
+    }
+
+    usingTopic(getProperty<std::string>("DebugDrawerSelectionsTopicName").getValue());
+    offeringTopic(getProperty<std::string>("VisualizationUpdateTopicName").getValue());
+
+    std::string fileName = getProperty<std::string>("FileName").getValue();
+    if(!fileName.empty())
+    {
+        ARMARX_INFO << "Visualizing affordances from file " << VAROUT(fileName);
+        scene.reset(new AffordanceKitArmarX::SceneArmarX());
+        scene->load(fileName);
+        visualize();
+        ARMARX_INFO << "Done visualizing affordances.";
+        return;   
+    }
+
     workingMemoryPrx = getProxy<memoryx::WorkingMemoryInterfacePrx>(getProperty<std::string>("WorkingMemoryName").getValue());
     if (!workingMemoryPrx)
     {
@@ -118,23 +148,6 @@ void AffordancePipelineVisualization::onConnectComponent()
         ARMARX_ERROR << "Failed to obtain environmental primitive segment pointer";
         return;
     }
-
-    debugDrawerTopicPrx = getTopic<DebugDrawerInterfacePrx>(getProperty<std::string>("DebugDrawerTopicName").getValue());
-    if (!debugDrawerTopicPrx)
-    {
-        ARMARX_ERROR << "Failed to obtain debug drawer proxy";
-        return;
-    }
-
-    affordanceVisualizationTopicPrx = getTopic<AffordancePipelineVisualizationListenerPrx>(getProperty<std::string>("VisualizationUpdateTopicName").getValue());
-    if (!affordanceVisualizationTopicPrx)
-    {
-        ARMARX_ERROR << "Failed to obtain affordance visualization topic proxy";
-        return;
-    }
-
-    usingTopic(getProperty<std::string>("DebugDrawerSelectionsTopicName").getValue());
-    offeringTopic(getProperty<std::string>("VisualizationUpdateTopicName").getValue());
 }
 
 void AffordancePipelineVisualization::onDisconnectComponent()

source/VisionX/components/AffordancePipelineVisualization/AffordancePipelineVisualization.h

@@ -75,6 +75,8 @@ namespace armarx
             defineOptionalProperty<float>("MinExpectedProbability", 0, "Visualize only samplings with expected probability greater than X");
 
             defineOptionalProperty<bool>("NoAffordanceExtractionConfigured", false, "In this case visualization will start as soon as primitives are computed");
+
+            defineOptionalProperty<std::string>("FileName", "", "Load affordances from a file name and exit.");
         }
     };