diff --git a/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt b/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
index a2587dc0c09e5329484dceb1838ea097e016283f..b49a31287eea44fc18ce7dc397efd05cd18d7000 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
+++ b/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
@@ -15,7 +15,6 @@ set(SOURCES
plugins/ObjectPoseProviderPlugin.cpp
plugins/ObjectPoseClientPlugin.cpp
- ObjectFinder.cpp
ice_conversions.cpp
ObjectPose.cpp
)
@@ -25,7 +24,6 @@ set(HEADERS
plugins/ObjectPoseProviderPlugin.h
plugins/ObjectPoseClientPlugin.h
- ObjectFinder.h
ice_conversions.h
ObjectPose.h
)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ArmarXObjects.h b/source/RobotAPI/libraries/ArmarXObjects/ArmarXObjects.h
index a1ebfe2e2679719eb58aa9cca8388394f5dd14e8..54315bcc8ebc727fdf55a6595a0683d6ccd1fea0 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ArmarXObjects.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ArmarXObjects.h
@@ -22,6 +22,8 @@
#pragma once
+#include "ObjectFinder.h"
+#include "ObjectInfo.h"
namespace armarx
{
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
similarity index 55%
rename from source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp
rename to source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
index d24b27e90b9b123e5ed70ed4bcd1cbf6ac7e604d..f4e7b492421b31d5de6fe99243c76cd5fb55c5cd 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
@@ -1,14 +1,13 @@
#include "ObjectFinder.h"
#include <SimoxUtility/filesystem/list_directory.h>
-#include <SimoxUtility/json.h>
-#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
-#include <SimoxUtility/shapes/OrientedBox.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <ArmarXCore/core/util/StringHelpers.h>
+#include "ObjectInfo.h"
+
namespace armarx
{
@@ -179,136 +178,5 @@ namespace armarx
return packageName;
}
-
- ObjectInfo::ObjectInfo(const std::string& packageName, const ObjectInfo::path& packageDataDir,
- const std::string& dataset, const std::string& name) :
- _packageName(packageName), _packageDataDir(packageDataDir), _dataset(dataset), _name(name)
- {
- }
-
- std::string ObjectInfo::package() const
- {
- return _packageName;
- }
-
- std::string ObjectInfo::dataset() const
- {
- return _dataset;
- }
-
- std::string ObjectInfo::name() const
- {
- return _name;
- }
-
- std::string ObjectInfo::id() const
- {
- return _dataset + "/" + _name;
- }
-
- ObjectInfo::path ObjectInfo::objectDirectory() const
- {
- return path(_packageName) / _dataset / _name;
- }
-
- PackageFileLocation ObjectInfo::file(const std::string& _extension, const std::string& suffix) const
- {
- std::string extension = _extension;
- if (extension.at(0) != '.')
- {
- extension = "." + extension;
- }
- std::string filename = _name + suffix + extension;
-
- PackageFileLocation loc;
- loc.package = _packageName;
- loc.relativePath = objectDirectory() / filename;
- loc.absolutePath = _packageDataDir / loc.relativePath;
- return loc;
- }
-
- PackageFileLocation ObjectInfo::simoxXML() const
- {
- return file(".xml");
- }
-
- PackageFileLocation ObjectInfo::wavefrontObj() const
- {
- return file(".obj");
- }
-
- PackageFileLocation ObjectInfo::boundingBoxJson() const
- {
- return file(".json", "_bb");
- }
-
- simox::AxisAlignedBoundingBox ObjectInfo::aabb() const
- {
- nlohmann::json j = nlohmann::read_json(boundingBoxJson().absolutePath);
- nlohmann::json jaabb = j.at("aabb");
-
- auto center = jaabb.at("center").get<Eigen::Vector3f>();
- auto extents = jaabb.at("extents").get<Eigen::Vector3f>();
- auto min = jaabb.at("min").get<Eigen::Vector3f>();
- auto max = jaabb.at("max").get<Eigen::Vector3f>();
-
- simox::AxisAlignedBoundingBox aabb(min, max);
-
- ARMARX_CHECK(aabb.center().isApprox(center)) << aabb.center().transpose() << "\n" << center.transpose();
- ARMARX_CHECK(aabb.extents().isApprox(extents)) << aabb.extents().transpose() << "\n" << extents.transpose();
- ARMARX_CHECK(aabb.min().isApprox(min)) << aabb.min().transpose() << "\n" << min.transpose();
- ARMARX_CHECK(aabb.max().isApprox(max)) << aabb.max().transpose() << "\n" << max.transpose();
-
- return aabb;
- }
-
- simox::OrientedBox<float> ObjectInfo::oobb() const
- {
- nlohmann::json j = nlohmann::read_json(boundingBoxJson().absolutePath);
- nlohmann::json joobb = j.at("oobb");
- auto pos = joobb.at("pos").get<Eigen::Vector3f>();
- auto ori = joobb.at("ori").get<Eigen::Quaternionf>().toRotationMatrix();
- auto extents = joobb.at("extents").get<Eigen::Vector3f>();
-
- Eigen::Vector3f corner = pos - ori * extents / 2;
-
- simox::OrientedBox<float> oobb(corner,
- ori.col(0) * extents(0),
- ori.col(1) * extents(1),
- ori.col(2) * extents(2));
-
- ARMARX_CHECK(oobb.center().isApprox(pos)) << oobb.center().transpose() << "\n" << pos.transpose();
- ARMARX_CHECK(oobb.rotation().isApprox(ori)) << oobb.rotation() << "\n" << ori;
- ARMARX_CHECK(oobb.dimensions().isApprox(extents)) << oobb.dimensions().transpose() << "\n" << extents.transpose();
- return oobb;
- }
-
- bool ObjectInfo::checkPaths() const
- {
- namespace fs = std::filesystem;
- bool result = true;
-
- if (!fs::is_regular_file(simoxXML().absolutePath))
- {
- ARMARX_WARNING << "Expected simox object file for object '" << *this << "': " << simoxXML().absolutePath;
- result = false;
- }
- if (!fs::is_regular_file(wavefrontObj().absolutePath))
- {
- ARMARX_WARNING << "Expected wavefront object file (.obj) for object '" << *this << "': " << wavefrontObj().absolutePath;
- result = false;
- }
-
- return result;
- }
-
-}
-
-namespace armarx
-{
- std::ostream& operator<<(std::ostream& os, const ObjectInfo& rhs)
- {
- return os << "'" << rhs.id() << "'";
- }
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
new file mode 100644
index 0000000000000000000000000000000000000000..5e3a31f546c76a92d16e9a8bc87bba1dfcaef971
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <filesystem>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+
+namespace armarx
+{
+ // #include <RobotAPI/libraries/ArmarXObjects/ObjectInfo.h>
+ class ObjectInfo;
+
+
+ /**
+ * @brief Used to find objects in the ArmarX objects repository [1].
+ *
+ * @see [1] https://gitlab.com/ArmarX/ArmarXObjects
+ */
+ class ObjectFinder : Logging
+ {
+ public:
+ using path = std::filesystem::path;
+
+ public:
+
+ ObjectFinder(const std::string& objectsPackageName = "ArmarXObjects");
+
+ std::optional<ObjectInfo> findObject(const std::string& dataset, const std::string& name) const;
+ std::optional<ObjectInfo> findObject(const std::string& nameOrID) const;
+
+
+ std::vector<std::string> getDatasets() const;
+ std::vector<path> getDatasetDirectories() const;
+
+ std::vector<ObjectInfo> findAllObjects(bool checkPaths = true) const;
+ std::map<std::string, std::vector<ObjectInfo>> findAllObjectsByDataset(bool checkPaths = true) const;
+ std::vector<ObjectInfo> findAllObjectsOfDataset(const std::string& dataset, bool checkPaths = true) const;
+
+
+ private:
+
+ void init() const;
+
+ path _rootDirAbs() const;
+ path _rootDirRel() const;
+
+
+ private:
+
+ /// Name of package containing the object models (ArmarXObjects by default).
+ mutable std::string packageName;
+
+ /// Absolute path to data directory (e.g. "/.../repos/ArmarXObjects/data").
+ mutable path packageDataDir;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..feaf2f203aca7445081f2f91e3d511a7b5bbdbd5
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
@@ -0,0 +1,146 @@
+#include "ObjectInfo.h"
+
+#include <SimoxUtility/json.h>
+#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
+#include <SimoxUtility/shapes/OrientedBox.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+namespace armarx
+{
+ namespace fs = std::filesystem;
+
+
+ ObjectInfo::ObjectInfo(const std::string& packageName, const ObjectInfo::path& packageDataDir,
+ const std::string& dataset, const std::string& name) :
+ _packageName(packageName), _packageDataDir(packageDataDir), _dataset(dataset), _name(name)
+ {
+ }
+
+ std::string ObjectInfo::package() const
+ {
+ return _packageName;
+ }
+
+ std::string ObjectInfo::dataset() const
+ {
+ return _dataset;
+ }
+
+ std::string ObjectInfo::name() const
+ {
+ return _name;
+ }
+
+ std::string ObjectInfo::id() const
+ {
+ return _dataset + "/" + _name;
+ }
+
+ ObjectInfo::path ObjectInfo::objectDirectory() const
+ {
+ return path(_packageName) / _dataset / _name;
+ }
+
+ PackageFileLocation ObjectInfo::file(const std::string& _extension, const std::string& suffix) const
+ {
+ std::string extension = _extension;
+ if (extension.at(0) != '.')
+ {
+ extension = "." + extension;
+ }
+ std::string filename = _name + suffix + extension;
+
+ PackageFileLocation loc;
+ loc.package = _packageName;
+ loc.relativePath = objectDirectory() / filename;
+ loc.absolutePath = _packageDataDir / loc.relativePath;
+ return loc;
+ }
+
+ PackageFileLocation ObjectInfo::simoxXML() const
+ {
+ return file(".xml");
+ }
+
+ PackageFileLocation ObjectInfo::wavefrontObj() const
+ {
+ return file(".obj");
+ }
+
+ PackageFileLocation ObjectInfo::boundingBoxJson() const
+ {
+ return file(".json", "_bb");
+ }
+
+ simox::AxisAlignedBoundingBox ObjectInfo::aabb() const
+ {
+ nlohmann::json j = nlohmann::read_json(boundingBoxJson().absolutePath);
+ nlohmann::json jaabb = j.at("aabb");
+
+ auto center = jaabb.at("center").get<Eigen::Vector3f>();
+ auto extents = jaabb.at("extents").get<Eigen::Vector3f>();
+ auto min = jaabb.at("min").get<Eigen::Vector3f>();
+ auto max = jaabb.at("max").get<Eigen::Vector3f>();
+
+ simox::AxisAlignedBoundingBox aabb(min, max);
+
+ ARMARX_CHECK(aabb.center().isApprox(center)) << aabb.center().transpose() << "\n" << center.transpose();
+ ARMARX_CHECK(aabb.extents().isApprox(extents)) << aabb.extents().transpose() << "\n" << extents.transpose();
+ ARMARX_CHECK(aabb.min().isApprox(min)) << aabb.min().transpose() << "\n" << min.transpose();
+ ARMARX_CHECK(aabb.max().isApprox(max)) << aabb.max().transpose() << "\n" << max.transpose();
+
+ return aabb;
+ }
+
+ simox::OrientedBox<float> ObjectInfo::oobb() const
+ {
+ nlohmann::json j = nlohmann::read_json(boundingBoxJson().absolutePath);
+ nlohmann::json joobb = j.at("oobb");
+ auto pos = joobb.at("pos").get<Eigen::Vector3f>();
+ auto ori = joobb.at("ori").get<Eigen::Quaternionf>().toRotationMatrix();
+ auto extents = joobb.at("extents").get<Eigen::Vector3f>();
+
+ Eigen::Vector3f corner = pos - ori * extents / 2;
+
+ simox::OrientedBox<float> oobb(corner,
+ ori.col(0) * extents(0),
+ ori.col(1) * extents(1),
+ ori.col(2) * extents(2));
+
+ ARMARX_CHECK(oobb.center().isApprox(pos)) << oobb.center().transpose() << "\n" << pos.transpose();
+ ARMARX_CHECK(oobb.rotation().isApprox(ori)) << oobb.rotation() << "\n" << ori;
+ ARMARX_CHECK(oobb.dimensions().isApprox(extents)) << oobb.dimensions().transpose() << "\n" << extents.transpose();
+ return oobb;
+ }
+
+ bool ObjectInfo::checkPaths() const
+ {
+ namespace fs = std::filesystem;
+ bool result = true;
+
+ if (!fs::is_regular_file(simoxXML().absolutePath))
+ {
+ ARMARX_WARNING << "Expected simox object file for object '" << *this << "': " << simoxXML().absolutePath;
+ result = false;
+ }
+ if (!fs::is_regular_file(wavefrontObj().absolutePath))
+ {
+ ARMARX_WARNING << "Expected wavefront object file (.obj) for object '" << *this << "': " << wavefrontObj().absolutePath;
+ result = false;
+ }
+
+ return result;
+ }
+
+}
+
+namespace armarx
+{
+ std::ostream& operator<<(std::ostream& os, const ObjectInfo& rhs)
+ {
+ return os << "'" << rhs.id() << "'";
+ }
+}
+
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
similarity index 57%
rename from source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h
rename to source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
index 7bbaa7c2282029ed78399027154f392f84ccad8a..260b3c15c66922eb2026817278f8d71ac2f14c75 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
@@ -1,8 +1,8 @@
#pragma once
#include <filesystem>
+#include <string>
-#include <ArmarXCore/core/logging/Logging.h>
namespace simox
{
@@ -13,54 +13,6 @@ namespace simox
namespace armarx
{
- class ObjectInfo;
-
-
- /**
- * @brief Used to find objects in the ArmarX objects repository [1].
- *
- * @see [1] https://gitlab.com/ArmarX/ArmarXObjects
- */
- class ObjectFinder : Logging
- {
- public:
- using path = std::filesystem::path;
-
- public:
-
- ObjectFinder(const std::string& objectsPackageName = "ArmarXObjects");
-
- std::optional<ObjectInfo> findObject(const std::string& dataset, const std::string& name) const;
- std::optional<ObjectInfo> findObject(const std::string& nameOrID) const;
-
-
- std::vector<std::string> getDatasets() const;
- std::vector<path> getDatasetDirectories() const;
-
- std::vector<ObjectInfo> findAllObjects(bool checkPaths = true) const;
- std::map<std::string, std::vector<ObjectInfo>> findAllObjectsByDataset(bool checkPaths = true) const;
- std::vector<ObjectInfo> findAllObjectsOfDataset(const std::string& dataset, bool checkPaths = true) const;
-
-
- private:
-
- void init() const;
-
- path _rootDirAbs() const;
- path _rootDirRel() const;
-
- private:
-
-
- /// Name of package containing the object models (ArmarXObjects by default).
- mutable std::string packageName;
-
- /// Absolute path to data directory (e.g. "/.../repos/ArmarXObjects/data").
- mutable path packageDataDir;
-
- };
-
-
struct PackageFileLocation
{
/// Name of the ArmarX package.
@@ -86,6 +38,9 @@ namespace armarx
ObjectInfo(const std::string& packageName, const path& packageDataDir,
const std::string& dataset, const std::string& name);
+ virtual ~ObjectInfo() = default;
+
+
std::string package() const;
std::string dataset() const;