minor fix

source/RobotAPI/components/FamiliarObjectDetectionExample/FamiliarObjectDetectionExample.cpp

@@ -156,6 +156,9 @@ namespace armarx::familiar_objects
             familiarObject.points.width = familiarObject.points.points.size();
             familiarObject.points.height = 1;
 
+            familiarObject.bounding_box.center.setZero();
+            familiarObject.bounding_box.extents.setConstant(numPoints);
+
             data.push_back(familiarObject.toAronDTO());
         }
 

source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp

 #include "Visu.h"
 
+#include <Eigen/src/Geometry/Transform.h>
+#include <Eigen/src/Geometry/Translation.h>
+
 #include <SimoxUtility/color/Color.h>
 #include <SimoxUtility/math/pose.h>
 #include <SimoxUtility/math/rescale.h>
@@ -102,10 +105,14 @@ namespace armarx::armem::server::obj::familiar_object_instance
                         layerPointCloud.add(points);
                     }
 
+                    const Eigen::Isometry3f global_T_bb =
+                        Eigen::Isometry3f{familiarObject.poseGlobal->pose} *
+                        Eigen::Translation3f{familiarObject.bounding_box.center};
+
                     auto box = viz::Box(objectId.str());
-                    box.pose(familiarObject.poseGlobal->pose);
-                    box.size(Eigen::Vector3f{100,100,100}); // FIXME set properly
-                    box.color(simox::Color::gray(128,alpha));
+                    box.pose(global_T_bb.matrix());
+                    box.size(familiarObject.bounding_box.extents);
+                    box.color(simox::Color::gray(128, alpha));
                     layerBox.add(box);
                 }
             }