Merge branch 'object-pose-json-serialization' into 'master'

Object pose JSON serialization

See merge request ArmarX/RobotAPI!77

source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt

@@ -16,6 +16,7 @@ set(SOURCES
     plugins/ObjectPoseClientPlugin.cpp
 
     ice_conversions.cpp
+    json_conversions.cpp
     ObjectPose.cpp
 )
 set(HEADERS
@@ -25,6 +26,7 @@ set(HEADERS
     plugins/ObjectPoseClientPlugin.h
 
     ice_conversions.h
+    json_conversions.h
     ObjectPose.h
 )
 

source/RobotAPI/components/ObjectPoseObserver/json_conversions.cpp

+#include "json_conversions.h"
+
+#include <SimoxUtility/json/eigen_conversion.h>
+#include <SimoxUtility/shapes/json_conversions.h>
+
+#include <RobotAPI/libraries/ArmarXObjects/json_conversions.h>
+
+#include "ice_conversions.h"
+
+
+void armarx::objpose::to_json(nlohmann::json& j, const ObjectPose& op)
+{
+    j["providerName"] = op.providerName;
+    j["objectType"] = ObjectTypeEnumNames.to_name(op.objectType);
+
+    j["objectID"] = op.objectID;
+
+    j["objectPoseRobot"] = op.objectPoseRobot;
+    j["objectPoseGlobal"] = op.objectPoseGlobal;
+    j["objectPoseOriginal"] = op.objectPoseOriginal;
+    j["objectPoseOriginalFrame"] = op.objectPoseOriginalFrame;
+
+    j["robotConfig"] = op.robotConfig;
+    j["robotPose"] = op.robotPose;
+
+    j["confidence"] = op.confidence;
+    j["timestampMicroSeconds"] = op.timestamp.toMicroSeconds();
+
+    if (op.localOOBB)
+    {
+        j["localOOBB"] = *op.localOOBB;
+    }
+}
+
+
+void armarx::objpose::from_json(const nlohmann::json& j, ObjectPose& op)
+{
+    op.providerName = j.at("providerName");
+    op.objectType = ObjectTypeEnumNames.from_name(j.at("objectType"));
+
+    op.objectID = j.at("objectID");
+
+    op.objectPoseRobot = j.at("objectPoseRobot");
+    op.objectPoseGlobal = j.at("objectPoseGlobal");
+    op.objectPoseOriginal = j.at("objectPoseOriginal");
+    op.objectPoseOriginalFrame = j.at("objectPoseOriginalFrame");
+
+    op.robotConfig = j.at("robotConfig").get<std::map<std::string, float>>();
+    op.robotPose = j.at("robotPose");
+
+    op.confidence = j.at("confidence");
+    op.timestamp = IceUtil::Time::microSeconds(j.at("timestampMicroSeconds"));
+
+    if (j.count("localOOBB"))
+    {
+        op.localOOBB = j.at("localOOBB").get<simox::OrientedBoxf>();
+    }
+}

source/RobotAPI/components/ObjectPoseObserver/json_conversions.h

+#pragma once
+
+#include <SimoxUtility/json/json.hpp>
+
+#include "ObjectPose.h"
+
+
+namespace armarx::objpose
+{
+    void to_json(nlohmann::json& j, const ObjectPose& op);
+    void from_json(const nlohmann::json& j, ObjectPose& op);
+}
+

source/RobotAPI/libraries/ArmarXObjects/ArmarXObjects.cpp

-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    RobotAPI::ArmarXObjects::ArmarXObjects
- * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
- * @date       2020
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include "ArmarXObjects.h"
-
-namespace armarx
-{
-
-}

source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt

@@ -8,11 +8,11 @@ set(LIBS
 )
 
 set(LIB_FILES
-    ArmarXObjects.cpp
-
     ObjectID.cpp
     ObjectInfo.cpp
     ObjectFinder.cpp
+
+    json_conversions.cpp
 )
 set(LIB_HEADERS
     ArmarXObjects.h
@@ -20,6 +20,8 @@ set(LIB_HEADERS
     ObjectID.h
     ObjectInfo.h
     ObjectFinder.h
+
+    json_conversions.h
 )
 
 

source/RobotAPI/libraries/ArmarXObjects/ObjectID.h

@@ -30,6 +30,10 @@ namespace armarx
         {
             return _instanceName;
         }
+        inline void setInstanceName(const std::string& instanceName)
+        {
+            this->_instanceName = instanceName;
+        }
 
         /// Return "dataset/className" or "dataset/className/instanceName".
         std::string str() const;

source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp

+#include "json_conversions.h"
+
+
+void armarx::to_json(nlohmann::json& j, const ObjectID& id)
+{
+    j["dataset"] = id.dataset();
+    j["className"] = id.className();
+    j["instanceName"] = id.instanceName();
+    j["str"] = id.str();
+}
+
+void armarx::from_json(const nlohmann::json& j, ObjectID& id)
+{
+    id =
+    {
+        j.at("dataset").get<std::string>(),
+        j.at("className").get<std::string>(),
+        j.at("instanceName").get<std::string>()
+    };
+}

source/RobotAPI/libraries/ArmarXObjects/json_conversions.h

+#pragma once
+
+#include <SimoxUtility/json/json.hpp>
+
+#include "ObjectID.h"
+
+
+namespace armarx
+{
+
+    void to_json(nlohmann::json& j, const ObjectID& value);
+    void from_json(const nlohmann::json& j, ObjectID& value);
+
+}