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Commit 83269580 authored by Rainer Kartmann's avatar Rainer Kartmann
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Rename concept "project" to "dataset"

parent aae091c5
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1 merge request!71Object pose observer
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source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp
+ 35
− 32
View file @ 83269580
......@@ -38,28 +38,28 @@ namespace armarx
}
std::optional<ObjectInfo> ObjectFinder::findObject(const std::string& project, const std::string& name) const
std::optional<ObjectInfo> ObjectFinder::findObject(const std::string& dataset, const std::string& name) const
{
init();
if (!project.empty())
if (!dataset.empty())
{
return ObjectInfo(packageName, packageDataDir, project, name);
return ObjectInfo(packageName, packageDataDir, dataset, name);
}
// Search for object in projects.
const auto& projects = getProjects();
for (const path& project : projects)
// Search for object in datasets.
const auto& datasets = getDatasets();
for (const path& dataset : datasets)
{
if (fs::is_directory(_rootDirAbs() / project / name))
if (fs::is_directory(_rootDirAbs() / dataset / name))
{
return ObjectInfo(packageName, packageDataDir, project, name);
return ObjectInfo(packageName, packageDataDir, dataset, name);
}
}
std::stringstream ss;
ss << "Did not find object '" << name << "' in any of these projects:\n";
for (const path& project : projects)
ss << "Did not find object '" << name << "' in any of these datasets:\n";
for (const path& dataset : datasets)
{
ss << "- " << project << "\n";
ss << "- " << dataset << "\n";
}
ss << "Objects root directory: " << _rootDirAbs();
ARMARX_WARNING << ss.str();
......@@ -73,7 +73,7 @@ namespace armarx
if (nameOrID.find("/") != nameOrID.npos)
{
const std::vector<std::string> split = armarx::split(nameOrID, "/", true);
ARMARX_CHECK_EQUAL(split.size(), 2) << "Expected ID of format 'Project/Name', but got: '" << nameOrID
ARMARX_CHECK_EQUAL(split.size(), 2) << "Expected ID of format 'Dataset/Name', but got: '" << nameOrID
<< "' (too many '/').";
return findObject(split[0], split[1]);
}
......@@ -83,7 +83,7 @@ namespace armarx
}
}
std::vector<std::string> ObjectFinder::getProjects() const
std::vector<std::string> ObjectFinder::getDatasets() const
{
init();
const bool local = true;
......@@ -91,7 +91,7 @@ namespace armarx
return std::vector<std::string>(paths.begin(), paths.end());
}
std::vector<ObjectFinder::path> ObjectFinder::getProjectDirectories() const
std::vector<ObjectFinder::path> ObjectFinder::getDatasetDirectories() const
{
init();
const bool local = false;
......@@ -103,35 +103,38 @@ namespace armarx
init();
const bool local = true;
std::vector<ObjectInfo> objects;
for (const path& projectDir : simox::fs::list_directory(_rootDirAbs(), local))
for (const path& datasetDir : simox::fs::list_directory(_rootDirAbs(), local))
{
if (fs::is_directory(_rootDirAbs() / projectDir))
if (fs::is_directory(_rootDirAbs() / datasetDir))
{
std::vector<ObjectInfo> project = findAllObjectsOfProject(projectDir, checkPaths);
objects.insert(objects.end(), project.begin(), project.end());
std::vector<ObjectInfo> dataset = findAllObjectsOfDataset(datasetDir, checkPaths);
for (const auto& o : dataset)
{
objects.push_back(o);
}
}
}
return objects;
}
std::vector<ObjectInfo> ObjectFinder::findAllObjectsOfProject(const std::string& project, bool checkPaths) const
std::vector<ObjectInfo> ObjectFinder::findAllObjectsOfDataset(const std::string& dataset, bool checkPaths) const
{
init();
path projectDir = _rootDirAbs() / project;
if (!fs::is_directory(projectDir))
path datasetDir = _rootDirAbs() / dataset;
if (!fs::is_directory(datasetDir))
{
ARMARX_WARNING << "Expected project directory for project '" << project << "': \n"
<< projectDir;
ARMARX_WARNING << "Expected dataset directory for dataset '" << dataset << "': \n"
<< datasetDir;
return {};
}
std::vector<ObjectInfo> objects;
const bool local = true;
for (const path& dir : simox::fs::list_directory(projectDir, local))
for (const path& dir : simox::fs::list_directory(datasetDir, local))
{
if (fs::is_directory(projectDir / dir))
if (fs::is_directory(datasetDir / dir))
{
ObjectInfo object(packageName, packageDataDir, project, dir.filename());
ObjectInfo object(packageName, packageDataDir, dataset, dir.filename());
if (!checkPaths || object.checkPaths())
{
objects.push_back(object);
......@@ -153,8 +156,8 @@ namespace armarx
ObjectInfo::ObjectInfo(const std::string& packageName, const ObjectInfo::path& packageDataDir,
const std::string& project, const std::string& name) :
_packageName(packageName), _packageDataDir(packageDataDir), _project(project), _name(name)
const std::string& dataset, const std::string& name) :
_packageName(packageName), _packageDataDir(packageDataDir), _dataset(dataset), _name(name)
{
}
......@@ -163,9 +166,9 @@ namespace armarx
return _packageName;
}
std::string ObjectInfo::project() const
std::string ObjectInfo::dataset() const
{
return _project;
return _dataset;
}
std::string ObjectInfo::name() const
......@@ -175,12 +178,12 @@ namespace armarx
std::string ObjectInfo::id() const
{
return _project + "/" + _name;
return _dataset + "/" + _name;
}
ObjectInfo::path ObjectInfo::objectDirectory() const
{
return path(_packageName) / _project / _name;
return path(_packageName) / _dataset / _name;
}
PackageFileLocation ObjectInfo::file(const std::string& _extension, const std::string& suffix) const
......
source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h
+ 18
− 8
View file @ 83269580
......@@ -15,6 +15,11 @@ 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:
......@@ -24,15 +29,15 @@ namespace armarx
ObjectFinder(const std::string& objectsPackageName = "ArmarXObjects");
std::optional<ObjectInfo> findObject(const std::string& project, const std::string& name) const;
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> getProjects() const;
std::vector<path> getProjectDirectories() const;
std::vector<std::string> getDatasets() const;
std::vector<path> getDatasetDirectories() const;
std::vector<ObjectInfo> findAllObjects(bool checkPaths = true) const;
std::vector<ObjectInfo> findAllObjectsOfProject(const std::string& project, bool checkPaths = true) const;
std::vector<ObjectInfo> findAllObjectsOfDataset(const std::string& dataset, bool checkPaths = true) const;
private:
......@@ -59,11 +64,16 @@ namespace armarx
/// Name of the ArmarX package.
std::string package;
/// Relative to the package's data directory.
std::string relativePath;
/// The absolute path (in the host's file system).
std::filesystem::path absolutePath;
};
/**
* @brief Accessor for the object files.
*/
class ObjectInfo
{
public:
......@@ -72,13 +82,13 @@ namespace armarx
public:
ObjectInfo(const std::string& packageName, const path& packageDataDir,
const std::string& project, const std::string& name);
const std::string& dataset, const std::string& name);
std::string package() const;
std::string project() const;
std::string dataset() const;
std::string name() const;
/// Return "project/name".
/// Return "dataset/name".
std::string id() const;
PackageFileLocation file(const std::string& extension, const std::string& suffix = "") const;
......@@ -109,7 +119,7 @@ namespace armarx
std::string _packageName;
path _packageDataDir;
std::string _project;
std::string _dataset;
std::string _name;
};
......
source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
+ 4
− 4
View file @ 83269580
......@@ -34,7 +34,7 @@
std::ostream& armarx::objpose::operator<<(std::ostream& os, const ObjectID& id)
{
return os << "'" << id.project << "/" << id.name << "'";
return os << "'" << id.dataset << "/" << id.name << "'";
}
......@@ -323,9 +323,9 @@ namespace armarx
for (const objpose::ObjectPose& objectPose : objectPoses.at(providerName))
{
const objpose::ObjectID id = objectPose.objectID;
std::string key = id.project + "/" + id.name;
std::string key = id.dataset + "/" + id.name;
std::optional<ObjectInfo> objectInfo = objectFinder.findObject(id.project, id.name);
std::optional<ObjectInfo> objectInfo = objectFinder.findObject(id.dataset, id.name);
if (!objectInfo)
{
ARMARX_WARNING << "Cannot visualize object '" << key << "'.";
......@@ -334,7 +334,7 @@ namespace armarx
PoseBasePtr pose = visu.inGlobalFrame ? objectPose.objectPoseGlobal : objectPose.objectPoseRobot;
viz::Object object = viz::Object(id.project + "/" + id.name)
viz::Object object = viz::Object(id.dataset + "/" + id.name)
.file(objectInfo->package(), objectInfo->simoxXML().relativePath)
.pose(armarx::PosePtr::dynamicCast(pose)->toEigen());
if (visu.alpha < 1)
......
source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice
+ 1
− 1
View file @ 83269580
......@@ -41,7 +41,7 @@ module armarx
struct ObjectID
{
string project; ///< e.g. "KIT", "YCB", "SecondHands", ...
string dataset; ///< e.g. "KIT", "YCB", "SecondHands", ...
string name; ///< e.g. "Amicelli", "001_chips_can", ...
};
sequence<ObjectID> ObjectIDSeq;
......
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