From 1843777917fa87aa85a5ef7ff304a88bda5f2f94 Mon Sep 17 00:00:00 2001
From: jean_patrick_mathes <uomnk@student.kit.edu>
Date: Tue, 4 Oct 2022 14:16:16 +0200
Subject: [PATCH] Commit only unchanged objects and set confidence to zero when
deleting
---
.../InteractiveMemoryEditor/Editor.cpp | 41 ++++++++++---------
1 file changed, 21 insertions(+), 20 deletions(-)
diff --git a/source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp b/source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp
index 0d8e32605..889375b71 100644
--- a/source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp
+++ b/source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp
@@ -99,19 +99,21 @@ namespace armarx
remainingPoses.reserve(storedPoses.size());
for (objpose::ObjectPose & current : storedPoses)
{
- bool keep = changes.applyTo(current);
- if (not keep)
- {
- continue;
- }
+ bool isChanged = changes.applyTo(current);
- providingPoses.push_back(current.toProvidedObjectPose());
- objpose::ProvidedObjectPose& providing = providingPoses.back();
+ if (isChanged)
+ {
+ providingPoses.push_back(current.toProvidedObjectPose());
+ objpose::ProvidedObjectPose& providing = providingPoses.back();
- providing.providerName = properties.providerName;
- providing.timestamp = DateTime::Now();
+ providing.providerName = properties.providerName;
+ providing.timestamp = DateTime::Now();
+ }
- remainingPoses.push_back(current);
+ if (current.confidence > 0)
+ {
+ remainingPoses.push_back(current);
+ }
}
pushToMemory(providingPoses);
@@ -224,20 +226,19 @@ namespace armarx
auto iterator = changed.find(pose.objectID.str());
bool isChanged = iterator != changed.end();
- if (isChanged && iterator->second.kind == DELETE)
- {
- return false;
- }
-
- Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
if (isChanged)
{
- transform = iterator->second.transform;
- }
+ auto& [name, change] = *iterator;
- pose.objectPoseGlobal = transform * pose.objectPoseGlobal;
+ if (change.kind == DELETE)
+ {
+ pose.confidence = 0;
+ }
+
+ pose.objectPoseGlobal = change.transform * pose.objectPoseGlobal;
+ }
- return true;
+ return isChanged;
}
void Editor::ChangeState::visualizeNewObjects(Editor* editor)
--
GitLab