From 2fad98a2f07709022b0098591c31893cbecb4fbf Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 14 Jun 2022 10:48:04 +0200
Subject: [PATCH] Remove requirement that object memory needs instance index
for prediction
---
.../armem/server/ObjectMemory/ObjectMemory.cpp | 11 ++++++++---
1 file changed, 8 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 89da7e8a6..fbfdba9d7 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -234,15 +234,16 @@ namespace armarx::armem::server::obj
auto boRequest = armarx::fromIce<armem::PredictionRequest>(request);
armem::PredictionResult result;
result.snapshotID = boRequest.snapshotID;
- if (armem::contains(workingMemory().id().withCoreSegmentName("Instance"),
- boRequest.snapshotID) &&
- !boRequest.snapshotID.hasGap() && boRequest.snapshotID.hasInstanceIndex())
+ if (armem::contains(workingMemory().id().withCoreSegmentName("Instance"), boRequest.snapshotID)
+ and not boRequest.snapshotID.hasGap()
+ and boRequest.snapshotID.hasTimestamp())
{
objpose::ObjectPosePredictionRequest objPoseRequest;
toIce(objPoseRequest.timeWindow, Duration::SecondsDouble(predictionTimeWindow));
objPoseRequest.objectID = toIce(ObjectID(request.snapshotID.entityName));
objPoseRequest.settings = request.settings;
toIce(objPoseRequest.timestamp, boRequest.snapshotID.timestamp);
+
objpose::ObjectPosePredictionResult objPoseResult =
predictObjectPoses({objPoseRequest}).at(0);
result.success = objPoseResult.success;
@@ -263,6 +264,10 @@ namespace armarx::armem::server::obj
}
else
{
+ if (not boRequest.snapshotID.hasInstanceIndex())
+ {
+ boRequest.snapshotID.instanceIndex = 0;
+ }
auto* aronInstance = queryResult.memory.findLatestInstance(
boRequest.snapshotID, boRequest.snapshotID.instanceIndex);
if (aronInstance == nullptr)
--
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