From 7a26a23ec77a69d7e37bec8aeed193084854d0ee Mon Sep 17 00:00:00 2001
From: jean_patrick_mathes <uomnk@student.kit.edu>
Date: Wed, 28 Sep 2022 17:16:04 +0200
Subject: [PATCH] Determine cloned object offset with OOBBs
---
.../components/InteractiveMemoryEditor/Editor.cpp | 14 ++++++++++++--
1 file changed, 12 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp b/source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp
index 3528d1455..13dc8abce 100644
--- a/source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp
+++ b/source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp
@@ -282,7 +282,7 @@ namespace armarx
auto& [name, change] = *iterator;
description.options.emplace_back("Reset");
- description.resetIndex = currentIndex++;
+ description.resetIndex = currentIndex; // ++
description.transform = change.transform;
@@ -315,9 +315,19 @@ namespace armarx
objpose::ObjectPose& newPose = newPoses.emplace_back(object);
newPose.objectID = object.objectID.withInstanceName(object.objectID.instanceName() + suffix);
+ const float minOffset = 100;
+ float offset = minOffset;
+ if (object.localOOBB.has_value())
+ {
+ Eigen::Vector3f size = object.localOOBB.value().corner_max() - object.localOOBB.value().corner_min();
+ float objectOffset = size.maxCoeff() / 2;
+
+ offset = std::max(minOffset, objectOffset);
+ }
+
Change& clonedChange = changed[newPose.objectID.str()];
clonedChange.kind = CREATE;
- clonedChange.transform = Eigen::Affine3f(Eigen::Translation3f(1000, 1000, 1000)).matrix();
+ clonedChange.transform = Eigen::Affine3f(Eigen::Translation3f(offset, offset, offset)).matrix();
clonedChange.iterator = std::prev(newPoses.end());
auto iterator = changed.find(object.objectID.str());
--
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