From 7859d11e784735979bee5bd8148ac585a40aa8e4 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 27 Sep 2024 09:43:40 +0200
Subject: [PATCH] boundingBoxOrientaiton: optiona
---
.../libraries/armem_objects/aron/FamiliarObjectInstance.xml | 2 +-
.../armem_objects/server/familiar_object_instance/Visu.cpp | 6 +++++-
2 files changed, 6 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.xml b/source/RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.xml
index 13a51e4e8..f6b968f7b 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.xml
@@ -53,7 +53,7 @@ Core segment type of Object/Instance.
<!-- Orientation of the bounding box in the 'sens' frame -->
<ObjectChild key="boundingBoxOrientation">
- <Orientation />
+ <FramedOrientation optional="true" />
</ObjectChild>
<!-- bounding box in local sensFrame (see poseSensFrame) -->
diff --git a/source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp b/source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp
index 3dafc76a7..94354343f 100644
--- a/source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/familiar_object_instance/Visu.cpp
@@ -91,7 +91,11 @@ namespace armarx::armem::server::obj::familiar_object_instance
const Eigen::Isometry3f global_T_obj{familiarObject.poseGlobal->pose};
Eigen::Isometry3f obj_T_bb = Eigen::Isometry3f::Identity();
obj_T_bb.translation() = familiarObject.bounding_box.center;
- obj_T_bb.linear() = familiarObject.boundingBoxOrientation.toRotationMatrix();
+
+ if(familiarObject.boundingBoxOrientation.has_value())
+ {
+ obj_T_bb.linear() = familiarObject.boundingBoxOrientation->orientation.toRotationMatrix();
+ }
const Eigen::Isometry3f global_T_bb = global_T_obj * obj_T_bb;
--
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