From 6c1dd70e99e8e46b205ea89f556be59066183dd6 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 19 May 2020 14:52:25 +0200
Subject: [PATCH] Add access to AABB
---
.../ObjectPoseObserver/ObjectFinder.cpp | 17 +++++++++++++++++
.../ObjectPoseObserver/ObjectFinder.h | 9 +++++++++
2 files changed, 26 insertions(+)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp b/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp
index 9081084cd..f9e85b2b4 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp
@@ -1,6 +1,8 @@
#include "ObjectFinder.h"
#include <SimoxUtility/filesystem/list_directory.h>
+#include <SimoxUtility/json.h>
+#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
@@ -207,6 +209,21 @@ namespace armarx
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 min = jaabb.at("min").get<Eigen::Vector3f>();
+ auto max = jaabb.at("max").get<Eigen::Vector3f>();
+
+ return simox::AxisAlignedBoundingBox(min, max);
+ }
+
bool ObjectInfo::checkPaths() const
{
namespace fs = std::filesystem;
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h b/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h
index 1e6aee1b8..c0b08f07e 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h
@@ -4,6 +4,10 @@
#include <ArmarXCore/core/logging/Logging.h>
+namespace simox
+{
+ struct AxisAlignedBoundingBox;
+}
namespace armarx
{
@@ -82,6 +86,11 @@ namespace armarx
PackageFileLocation simoxXML() const;
PackageFileLocation wavefrontObj() const;
+ PackageFileLocation boundingBoxJson() const;
+
+ simox::AxisAlignedBoundingBox aabb() const;
+
+
/**
* @brief Checks the existence of expected files.
* If a file is does not exist, emits a warning returns false.
--
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