Rename concept "project" to "dataset"

source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp

@@ -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

@@ -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

@@ -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

@@ -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;