From d44610f96100377721d277bf3768aab660ca2f9e Mon Sep 17 00:00:00 2001
From: uhfpm_plewnia <uhfpm@student.kit.edu>
Date: Mon, 17 Jul 2023 06:13:54 +0200
Subject: [PATCH] added Information about scenes for experiments in
ForgettingExperiments
---
.../libraries/armem/core/MemoryID.cpp | 1 +
.../armem/server/ltm/CoreSegment.cpp | 2 -
.../libraries/armem/server/ltm/Memory.cpp | 10 +++--
.../server/test/ForgettingExperiments.cpp | 45 ++++++++++++++++++-
.../armem/server/test/ForgettingExperiments.h | 6 ++-
5 files changed, 56 insertions(+), 8 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/MemoryID.cpp b/source/RobotAPI/libraries/armem/core/MemoryID.cpp
index 7578dfefb..9cc021062 100644
--- a/source/RobotAPI/libraries/armem/core/MemoryID.cpp
+++ b/source/RobotAPI/libraries/armem/core/MemoryID.cpp
@@ -133,6 +133,7 @@ namespace armarx::armem
MemoryID MemoryID::cleanID() const
{
+
//ARMARX_INFO << this->str();
std::vector<std::string> allItems = this->getAllItems(true);
//ARMARX_INFO << VAROUT(allItems);
diff --git a/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.cpp
index e76184c79..71cc8baa0 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/CoreSegment.cpp
@@ -120,8 +120,6 @@ namespace armarx::armem::server::ltm
//ARMARX_INFO << VAROUT(e.id());
//TODO: why does this not have any provider segments?
-
-
//ARMARX_INFO << VAROUT(e.id().cleanID());
/*
diff --git a/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp b/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
index 4e2bf9b9f..544765d02 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/Memory.cpp
@@ -104,7 +104,9 @@ namespace armarx::armem::server::ltm
{
std::string segmentName = util::fs::detail::unescapeName(subdirName);
- //ARMARX_INFO << VAROUT(id());
+ ARMARX_INFO << "Name of segment " << segmentName;
+ ARMARX_INFO << "After getting segment name";
+ ARMARX_INFO << VAROUT(id().withCoreSegmentName(segmentName));
//ARMARX_INFO << VAROUT(id().getCoreSegmentID());
CoreSegment c(getMemoryBasePath(),
getSettings(),
@@ -145,8 +147,8 @@ namespace armarx::armem::server::ltm
// legacy: check if segment is stored on hard drive without db
if (fullPathExists())
{
- ARMARX_INFO << VAROUT(id());
- ARMARX_INFO << VAROUT(id().getCoreSegmentID());
+ //ARMARX_INFO << VAROUT(id());
+ //ARMARX_INFO << VAROUT(id().getCoreSegmentID());
auto c = CoreSegment(getMemoryBasePath(),
getSettings(),
getExportName(),
@@ -183,7 +185,7 @@ namespace armarx::armem::server::ltm
m.id() = id().getMemoryID();
- //ARMARX_INFO << VAROUT(m.id());
+ ARMARX_INFO << VAROUT(id());
forEachCoreSegment(
[&m](auto& x)
diff --git a/source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.cpp b/source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.cpp
index d6a3c7af0..eef5de181 100644
--- a/source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.cpp
+++ b/source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.cpp
@@ -8,7 +8,7 @@
namespace armarx::armem::server::test
{
-void save_statistics(std::map<std::string, ltm::processor::SnapshotFilter::FilterStatistics> stats, std::string memoryName)
+void save_statistics(std::map<std::string, ltm::processor::SnapshotFilter::FilterStatistics> stats, std::string memoryName, std::string sim_json_data, std::string object_memory_json_data)
{
//ARMARX_INFO << "Saving statistics";
auto now = std::chrono::high_resolution_clock::now();
@@ -82,6 +82,16 @@ void save_statistics(std::map<std::string, ltm::processor::SnapshotFilter::Filte
s << std::put_time(time, "%Y%m%d%H%M%S");
std::string timeID = s.str();
jsonData["Time "] = timeString;
+
+ if(sim_json_data.empty() || object_memory_json_data.empty()){
+ jsonData["Scene-Information for Simulation"] = load_scene_information("sim");
+ jsonData["Scene-Information for ObjectMemory"] = load_scene_information("om");
+ jsonData["Additional object in simulation"] = find_difference(jsonData["Scene-Information for ObjectMemory"], jsonData["Scene-Information for Simulation"]);
+ }else {
+ jsonData["Scene-Information for Simulation"] = sim_json_data;
+ jsonData["Scene-Information for ObjectMemory"] = object_memory_json_data;
+ }
+
std::string path = d_p.string();
path += "/tmp_wm_";
path += timeID;
@@ -104,4 +114,37 @@ void save_statistics(std::map<std::string, ltm::processor::SnapshotFilter::Filte
}
}
+nlohmann::json load_scene_information(std::string om_or_sim)
+{
+ std::string home_dir = getenv("HOME");
+ if(home_dir.empty()){
+ ARMARX_WARNING << "Trying to open home directory but env variable HOME is not set";
+ }
+ std::filesystem::path path = home_dir;
+ path /= "code";
+ path /= "h2t" ;
+ path /= "PriorKnowledgeData";
+ path /= "data";
+ path /= "PriorKnowledgeData";
+ path /= "scenes";
+ std::string name_for_current_scene = "ARMAR-III-kitchen"; //this can be changed later, maybe to something that indicates better that these are the changed files
+ std::string file_name = name_for_current_scene + "_" + om_or_sim + ".json";
+ path /= file_name;
+
+ std::ifstream ifs(path);
+ nlohmann::json json_data = nlohmann::json::parse(ifs);
+
+ return json_data;
+
+}
+
+nlohmann::json find_difference(nlohmann::json om, nlohmann::json sim)
+{
+ //the new object is at the last position of sim at the moment
+ auto objects = sim.at("objects");
+ int num_elements = objects.size();
+ auto object = objects[num_elements - 1];
+ return object;
+}
+
}
diff --git a/source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.h b/source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.h
index 8c2e7f7ba..0cc2a8de0 100644
--- a/source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.h
+++ b/source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.h
@@ -30,6 +30,10 @@
namespace armarx::armem::server::test
{
- void save_statistics(std::map<std::string, ltm::processor::SnapshotFilter::FilterStatistics> stats, std::string memoryName = "");
+ void save_statistics(std::map<std::string, ltm::processor::SnapshotFilter::FilterStatistics> stats, std::string memoryName = "", std::string sim_json_data = "", std::string object_memory_json_data = "");
+
+ nlohmann::json load_scene_information(std::string om_or_sim);
+
+ nlohmann::json find_difference(nlohmann::json om, nlohmann::json sim);
}
--
GitLab