From 97d85591aaa8db5b25e57adf955a8a2612f18135 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 1 Jul 2021 13:14:47 +0200
Subject: [PATCH] fix + cleanup
---
.../client/articulated_object/Writer.cpp | 19 -------------------
.../armem_objects/server/instance/Segment.cpp | 16 +++++++++++-----
2 files changed, 11 insertions(+), 24 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index 3f9cb647a..237bc31cc 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -215,38 +215,21 @@ namespace armarx::armem::articulated_object
return false;
}
- ARMARX_INFO << "Class id is " << classId->str();
-
// install memory link
- // toAron(aronArticulatedObject.description, *descriptionId);
toAron(objectInstance.classID, *classId);
- // armarx::arondto::ObjectID& objectId = objectInstance.pose.objectID;
-
armem::MemoryID id;
id.setEntityID(classId->getEntityID());
- // auto classId2 = classId->getEntityID();
- // classId2.setEntityID(const MemoryID &id)
-
- ARMARX_INFO << "manual object id: " << id.providerSegmentName + "/" + id.entityName;
-
armarx::ObjectID objectId(id.entityName);
armarx::arondto::ObjectID cs;
- // objectInstance.pose.objectID
- // toAron(objectInstance.pose.objectID, objectId);
-
cs.className = objectId.className();
cs.instanceName = objectId.instanceName();
cs.dataset = objectId.dataset();
objectInstance.pose.objectID = cs;
- ARMARX_INFO << "class entity id" << classId->getEntityID().str();
-
- // toAron(objectInstance.pose.objectID, objectInstance.classID);
-
update.instancesData = {objectInstance.toAron()};
update.timeCreated = timestamp;
@@ -273,9 +256,7 @@ namespace armarx::armem::articulated_object
<< "Known classes are " << simox::alg::get_keys(knownObjects);
return false;
}
- ARMARX_INFO << "Object classId is " << classId->str();
- // TODO(fabian.reister): integrate memory link
return storeInstance(obj);
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 5fd9b28ee..db706075c 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -117,9 +117,9 @@ namespace armarx::armem::server::obj::instance
void Segment::connect(viz::Client arviz)
{
- ARMARX_INFO << "ArticulatedObjectVisu";
- this->visu = std::make_unique<ArticulatedObjectVisu>(arviz, *this);
- visu->init();
+ // ARMARX_INFO << "ArticulatedObjectVisu";
+ // this->visu = std::make_unique<ArticulatedObjectVisu>(arviz, *this);
+ // visu->init();
}
@@ -227,12 +227,18 @@ namespace armarx::armem::server::obj::instance
update.confidence = pose.confidence;
arondto::ObjectInstance dto;
+ toAron(dto, pose);
// Search for object class.
if (auto instance = findClassInstance(pose.objectID))
{
- fromAron(dto.classID, instance->id());
-
+ toAron(dto.classID, instance->id());
+ }
+ else
+ {
+ toAron(dto.classID, MemoryID());
}
+ toAron(dto.sourceID, MemoryID());
+ update.instancesData.push_back(dto.toAron());
}
iceMemory.commit(commit);
--
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