From d7f06d637de99a5c063cea2a8de7ece82c37c14d Mon Sep 17 00:00:00 2001
From: phesch <ulila@student.kit.edu>
Date: Sun, 26 Jun 2022 15:27:02 +0200
Subject: [PATCH] Minor fixes to predictions in ObjectMemory
---
.../components/armem/server/ObjectMemory/ObjectMemory.cpp | 4 +---
.../libraries/armem_objects/server/instance/Segment.cpp | 3 +--
2 files changed, 2 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index a827a7ea4..a9a6073f6 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -302,9 +302,7 @@ namespace armarx::armem::server::obj
{
result.success = false;
result.errorMessage << "No predictions are supported for MemoryID "
- << boRequest.snapshotID
- << ". Have you given an instance index if requesting"
- << " an object pose prediction?";
+ << boRequest.snapshotID;
}
results.push_back(result.toIce());
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 6ba35fd20..0397d195c 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -53,8 +53,7 @@ namespace armarx::armem::server::obj::instance
SpecializedCoreSegment(memoryToIceAdapter,
"Instance",
arondto::ObjectInstance::ToAronType(),
- 64,
- predictionEngines)
+ 64)
{
oobbCache.setFetchFn([this](const ObjectID & id) -> std::optional<simox::OrientedBoxf>
{
--
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