From 02539e19ed2e773233ec556d9d4b6f1f4238255d Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 1 Mar 2021 15:02:00 +0100
Subject: [PATCH] Add functions to load recognized and spoken object names
---
.../libraries/ArmarXObjects/ObjectFinder.cpp | 38 +++++++++++++++
.../libraries/ArmarXObjects/ObjectFinder.h | 26 ++++++++++
.../libraries/ArmarXObjects/ObjectInfo.cpp | 47 +++++++++++++++++++
.../libraries/ArmarXObjects/ObjectInfo.h | 16 +++++++
4 files changed, 127 insertions(+)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
index 0be8ac4ea..e9a9fc4eb 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
@@ -1,5 +1,6 @@
#include <VirtualRobot/XML/ObjectIO.h>
+#include <SimoxUtility/algorithm/string.h>
#include <SimoxUtility/filesystem/list_directory.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
@@ -229,6 +230,43 @@ namespace armarx
return loadObstacle(findObject(obj));
}
+
+ static std::vector<std::string> _loadNames(
+ const ObjectFinder& finder,
+ const ObjectID& objectID,
+ const bool includeClassName,
+ const std::function<std::optional<std::vector<std::string>>(const ObjectInfo&)> loadNamesFn)
+ {
+ std::vector<std::string> names;
+ if (includeClassName)
+ {
+ names.push_back(simox::alg::to_lower(objectID.className()));
+ }
+ if (std::optional<ObjectInfo> info = finder.findObject(objectID))
+ {
+ if (std::optional<std::vector<std::string>> loadedNames = loadNamesFn(*info))
+ {
+ // Source: https://stackoverflow.com/a/201729
+ names.insert(names.end(), loadedNames->begin(), loadedNames->end());
+ }
+ }
+ return names;
+ }
+ std::vector<std::string> ObjectFinder::loadRecognizedNames(const ObjectID& objectID, bool includeClassName) const
+ {
+ return _loadNames(*this, objectID, includeClassName, [](const ObjectInfo& info)
+ {
+ return info.loadRecognizedNames();
+ });
+ }
+ std::vector<std::string> ObjectFinder::loadSpokenNames(const ObjectID& objectID, bool includeClassName) const
+ {
+ return _loadNames(*this, objectID, includeClassName, [](const ObjectInfo& info)
+ {
+ return info.loadSpokenNames();
+ });
+ }
+
ObjectFinder::path ObjectFinder::_rootDirAbs() const
{
return packageDataDir / packageName;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
index bb503090e..f6e983159 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
@@ -53,6 +53,32 @@ namespace armarx
static loadObstacle(const std::optional<ObjectInfo>& ts);
VirtualRobot::ObstaclePtr
loadObstacle(const objpose::ObjectPose& obj) const;
+
+
+ /**
+ * @brief Load names to use when matched when recognizing an object by name.
+ *
+ * If the object's names JSON file does not exist, no names will be added from a file.
+ * If you would like to detect this case, first `findObject()`, then use
+ * `ObjectInfo::loadRecognizedNames()`, which returns a `std::optional`.
+ *
+ * @param includeClassName If true, include the raw class name in the result.
+ * @see `ObjectInfo::loadRecognizedNames()`
+ */
+ std::vector<std::string> loadRecognizedNames(const ObjectID& objectID, bool includeClassName = false) const;
+ /**
+ * @brief Load names to use when verbalizing an object name.
+ *
+ * If the object's names JSON file does not exist, no names will be added from a file.
+ * If you would like to detect this case, first `findObject()`, then use
+ * `ObjectInfo::loadSpokenNames()`, which returns a `std::optional`.
+ *
+ * @param includeClassName If true, include the raw class name in the result.
+ * @see `ObjectInfo::loadSpokenNames()`
+ */
+ std::vector<std::string> loadSpokenNames(const ObjectID& objectID, bool includeClassName = false) const;
+
+
private:
void init() const;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
index 1dc1903ea..8c70a93aa 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
@@ -1,5 +1,6 @@
#include "ObjectInfo.h"
+#include <SimoxUtility/algorithm/string.h>
#include <SimoxUtility/json.h>
#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
#include <SimoxUtility/shapes/OrientedBox.h>
@@ -85,6 +86,11 @@ namespace armarx
return file(".json", "_bb");
}
+ PackageFileLocation ObjectInfo::namesJson() const
+ {
+ return file(".json", "_names");
+ }
+
std::optional<simox::AxisAlignedBoundingBox> ObjectInfo::loadAABB() const
{
nlohmann::json j;
@@ -147,6 +153,47 @@ namespace armarx
return oobb;
}
+ std::optional<std::vector<std::string>> ObjectInfo::loadRecognizedNames() const
+ {
+ return loadNames("recognized_name");
+ }
+
+ std::optional<std::vector<std::string>> ObjectInfo::loadSpokenNames() const
+ {
+ return loadNames("spoken_name");
+ }
+
+ std::optional<std::vector<std::string> > ObjectInfo::loadNames(const std::string& jsonKey) const
+ {
+ const PackageFileLocation file = namesJson();
+ if (fs::is_regular_file(file.absolutePath))
+ {
+ nlohmann::json json;
+
+ try
+ {
+ json = nlohmann::read_json(file.absolutePath);
+ }
+ catch (const nlohmann::json::exception& e)
+ {
+ ARMARX_WARNING << "Failed to parse JSON file " << file.absolutePath << ": \n" << e.what();
+ return std::nullopt;
+ }
+ catch (const std::exception& e)
+ {
+ ARMARX_WARNING << "Failed to read file " << file.absolutePath << ": \n" << e.what();
+ return std::nullopt;
+ }
+
+ return json.at(jsonKey).get<std::vector<std::string>>();
+ }
+ else
+ {
+ return std::nullopt;
+ }
+ }
+
+
bool ObjectInfo::checkPaths() const
{
namespace fs = std::filesystem;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
index 5f50ec956..9888a4c7a 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
@@ -64,6 +64,10 @@ namespace armarx
PackageFileLocation boundingBoxJson() const;
+ /// File containing recognized and spoken names of objects.
+ PackageFileLocation namesJson() const;
+
+
/**
* @brief Load the AABB (axis-aligned bounding-box) from the bounding box JSON file.
* @return Return the AABB if successful, `std::nullopt` if file does not exist.
@@ -76,6 +80,17 @@ namespace armarx
*/
std::optional<simox::OrientedBox<float>> loadOOBB() const;
+ /**
+ * @brief Load names to use when matched when recognizing an object by name.
+ * @see `namesJson()`
+ */
+ std::optional<std::vector<std::string>> loadRecognizedNames() const;
+ /**
+ * @brief Load names to use when verbalizing an object name.
+ * @see `namesJson()`
+ */
+ std::optional<std::vector<std::string>> loadSpokenNames() const;
+
/**
* @brief Checks the existence of expected files.
@@ -88,6 +103,7 @@ namespace armarx
private:
path objectDirectory() const;
+ std::optional<std::vector<std::string>> loadNames(const std::string& jsonKey) const;
private:
--
GitLab