diff --git a/source/VisionX/components/armem/server/HumanMemory/HumanMemory.cpp b/source/VisionX/components/armem/server/HumanMemory/HumanMemory.cpp
index a68a343866ec9817d08ed00a1fa5e342c92170e3..2f12ac9587102d29a8509c598ab364381221dd14 100644
--- a/source/VisionX/components/armem/server/HumanMemory/HumanMemory.cpp
+++ b/source/VisionX/components/armem/server/HumanMemory/HumanMemory.cpp
@@ -267,8 +267,8 @@ namespace armarx::armem::server::human_memory
armem::EntityUpdate update;
update.entityID = entityID;
// update.confidence = humanPose.
- update.timeSent = timestamp; // TODO this is not fully correct
- update.timeCreated = timestamp;
+ update.sentTime = timestamp; // TODO this is not fully correct
+ update.referencedTime = timestamp;
update.instancesData.push_back(humanPose.toAron());
commit.add(update);
diff --git a/source/VisionX/components/image_processor/OpenPoseEstimation/Memory/RGBDPoseEstimationWithMemoryWriter/RGBDPoseEstimationWithMemoryWriter.cpp b/source/VisionX/components/image_processor/OpenPoseEstimation/Memory/RGBDPoseEstimationWithMemoryWriter/RGBDPoseEstimationWithMemoryWriter.cpp
index 539ffcdebf8d01e5e992788b60b0db0455238048..7e6b8a368c8fa83f4825dcda3897f346cc2ad5a4 100644
--- a/source/VisionX/components/image_processor/OpenPoseEstimation/Memory/RGBDPoseEstimationWithMemoryWriter/RGBDPoseEstimationWithMemoryWriter.cpp
+++ b/source/VisionX/components/image_processor/OpenPoseEstimation/Memory/RGBDPoseEstimationWithMemoryWriter/RGBDPoseEstimationWithMemoryWriter.cpp
@@ -83,7 +83,7 @@ namespace armarx
.withProviderSegmentName(getName())
.withEntityName("3DDetections")
.withTimestamp(ts);
- update.timeCreated = ts;
+ update.referencedTime = ts;
for (auto& [_, humanPose] : openposeResult3D)
{
diff --git a/source/VisionX/libraries/armem_human/client/HumanPoseReader.cpp b/source/VisionX/libraries/armem_human/client/HumanPoseReader.cpp
index 26c459110a7810728df8cc2a3a25895734492262..c228755ace04b3c41ea48c470be496a92e4940f6 100644
--- a/source/VisionX/libraries/armem_human/client/HumanPoseReader.cpp
+++ b/source/VisionX/libraries/armem_human/client/HumanPoseReader.cpp
@@ -75,7 +75,7 @@ namespace armarx::armem::human::client
ARMARX_TRACE;
const core::time::Duration dtToNow =
- timestamp - entityInstance.metadata().timeCreated;
+ timestamp - entityInstance.metadata().referencedTime;
if (dtToNow < maxAge and dtToNow.isPositive())
{
diff --git a/source/VisionX/libraries/armem_human/client/HumanPoseWriter.cpp b/source/VisionX/libraries/armem_human/client/HumanPoseWriter.cpp
index d6cf3045384826f0639db1d74cff720471d2fe39..2a7b0ed1d02b6e47b47bb28da4e1e05443cbde46 100644
--- a/source/VisionX/libraries/armem_human/client/HumanPoseWriter.cpp
+++ b/source/VisionX/libraries/armem_human/client/HumanPoseWriter.cpp
@@ -39,7 +39,7 @@ namespace armarx::armem::human::client
bool
Writer::commitHumanPose(const HumanPose& humanPose,
const std::string& provider,
- const armem::Time& timeCreated)
+ const armem::Time& referencedTime)
{
ARMARX_WARNING << "NYI";
return true;
@@ -49,7 +49,7 @@ namespace armarx::armem::human::client
bool
Writer::commitHumanPoses(const std::vector<HumanPose>& humanPoses,
const std::string& provider,
- const armem::Time& timeCreated)
+ const armem::Time& referencedTime)
{
ARMARX_WARNING << "NYI";
return true;
@@ -59,16 +59,16 @@ namespace armarx::armem::human::client
bool
Writer::commitHumanPoseInCameraFrame(const HumanPose& humanPose,
const std::string& provider,
- const armem::Time& timeCreated)
+ const armem::Time& referencedTime)
{
- return commitHumanPosesInCameraFrame({humanPose}, provider, timeCreated);
+ return commitHumanPosesInCameraFrame({humanPose}, provider, referencedTime);
}
bool
Writer::commitHumanPosesInCameraFrame(const std::vector<HumanPose>& humanPoses,
const std::string& provider,
- const armem::Time& timeCreated)
+ const armem::Time& referencedTime)
{
using armarx::armem::human::toAron;
using armarx::aron::toAron;
@@ -81,12 +81,12 @@ namespace armarx::armem::human::client
humanPosesDto.push_back(humanPoseAron.toAronDTO());
}
- core::time::dto::DateTime timeCreatedDto;
- toIce(timeCreatedDto, timeCreated);
+ core::time::dto::DateTime referencedTimeDto;
+ toIce(referencedTimeDto, referencedTime);
try
{
- humanMemory->commitHumanPosesInCameraFrame(humanPosesDto, provider, timeCreatedDto);
+ humanMemory->commitHumanPosesInCameraFrame(humanPosesDto, provider, referencedTimeDto);
return true;
}
catch (const Ice::Exception& e)
diff --git a/source/VisionX/libraries/armem_human/client/HumanPoseWriter.h b/source/VisionX/libraries/armem_human/client/HumanPoseWriter.h
index 5e92dc34ee5e1ab14a0ff51457717b5ef2ca6da7..4fd91181121040f4c9a0256310e1ae8db1941592 100644
--- a/source/VisionX/libraries/armem_human/client/HumanPoseWriter.h
+++ b/source/VisionX/libraries/armem_human/client/HumanPoseWriter.h
@@ -45,15 +45,15 @@ namespace armarx::armem::human::client
// FIXME remove provider, add to c'tor
bool commitHumanPose(const HumanPose& humanPose,
const std::string& provider,
- const armem::Time& timeCreated);
+ const armem::Time& referencedTime);
bool commitHumanPoses(const std::vector<HumanPose>& humanPoses,
const std::string& provider,
- const armem::Time& timeCreated);
+ const armem::Time& referencedTime);
bool commitHumanPoseInCameraFrame(const HumanPose& humanPose,
const std::string& provider,
- const armem::Time& timeCreated);
+ const armem::Time& referencedTime);
/**
* @brief Calls a dedicated interface of the human memory in order to resolve keypoints
@@ -64,7 +64,7 @@ namespace armarx::armem::human::client
*/
bool commitHumanPosesInCameraFrame(const std::vector<HumanPose>& humanPoses,
const std::string& provider,
- const armem::Time& timeCreated);
+ const armem::Time& referencedTime);
private:
armem::client::Writer memoryWriter;
diff --git a/source/VisionX/libraries/armem_human/server/PoseSegment.cpp b/source/VisionX/libraries/armem_human/server/PoseSegment.cpp
index b7f3cd56f738e96ca9bbceee595a18e26ab6dc32..af9ccd018cd1db47f5d0517c025f151a7489c94d 100644
--- a/source/VisionX/libraries/armem_human/server/PoseSegment.cpp
+++ b/source/VisionX/libraries/armem_human/server/PoseSegment.cpp
@@ -75,7 +75,7 @@ namespace armarx::armem::server::human
armarx::armem::human::HumanPose bo;
fromAron(dto, bo);
- if( (now - instance.metadata().timeCreated) < maxAge )
+ if( (now - instance.metadata().referencedTime) < maxAge )
{
humanPosesMap[provSegment.name()].push_back(bo);
}
diff --git a/source/VisionX/libraries/armem_human/server/profile/Finder.h b/source/VisionX/libraries/armem_human/server/profile/Finder.h
index dcf8c44bf9e63b86ec0594f69b7155cac905e1dc..dcec0b2efc012b847b8305b48da8f6662f73ef30 100644
--- a/source/VisionX/libraries/armem_human/server/profile/Finder.h
+++ b/source/VisionX/libraries/armem_human/server/profile/Finder.h
@@ -5,8 +5,6 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/PackagePath.h>
-#include <RobotAPI/libraries/armem_objects/types.h>
-
#include "Info.h"
@@ -15,7 +13,7 @@ namespace armarx::armem::server::human::profile
/**
* @brief Used to find human profiles in the Prior Knowledge Data repository [1].
*
- * @see [1] https://gitlab.com/ArmarX/PriorKnowledgeData
+ * @see [1] https://git.h2t.iar.kit.edu/sw/armarx/prior-knowledge-data
*/
class Finder : Logging
{
diff --git a/source/VisionX/libraries/armem_human/server/profile/Segment.cpp b/source/VisionX/libraries/armem_human/server/profile/Segment.cpp
index c373c9b3c0fde0b89a0997bc8d506d20aa728b7d..3f05f688a1297baf1e4184d9c383e3e56e0c0d30 100644
--- a/source/VisionX/libraries/armem_human/server/profile/Segment.cpp
+++ b/source/VisionX/libraries/armem_human/server/profile/Segment.cpp
@@ -106,7 +106,7 @@ namespace armarx::armem::server::human::profile
.id()
.withProviderSegmentName(dataPackageName)
.withEntityName(info.id());
- update.timeCreated = update.timeSent = update.timeArrived = now;
+ update.referencedTime = update.sentTime = update.arrivedTime = now;
update.instancesData = {profile->toAron()};
}
}
diff --git a/source/VisionX/libraries/armem_images_core/ImageToArMem.cpp b/source/VisionX/libraries/armem_images_core/ImageToArMem.cpp
index c0d3dea2692066092e9a646551a4ef48a70f843d..c48c7f787829c668b2b6b6ae806e588fbe77785c 100644
--- a/source/VisionX/libraries/armem_images_core/ImageToArMem.cpp
+++ b/source/VisionX/libraries/armem_images_core/ImageToArMem.cpp
@@ -170,7 +170,7 @@ namespace visionx::armem_images
{
armarx::armem::EntityUpdate& update = commit.updates.emplace_back();
update.entityID = entityID;
- update.timeCreated = timestamp;
+ update.referencedTime = timestamp;
for (const auto& image : images)
{
update.instancesData.push_back(image->toAron());