From 1932cb191db69e0a4aba88b857c8bb06cd9a31a0 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 28 Jun 2021 10:11:06 +0200
Subject: [PATCH] Try to resolve object IDs without dataset
---
.../libraries/armem_objects/SceneSnapshot.cpp | 15 +++++++++++++++
.../libraries/armem_objects/SceneSnapshot.h | 2 ++
.../armem_objects/server/instance/Segment.cpp | 2 +-
3 files changed, 18 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
index d8ae0a10b..d491662ed 100644
--- a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
+++ b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
@@ -3,6 +3,7 @@
#include <SimoxUtility/json.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
// #include <RobotAPI/libraries/armem/core/json_conversions.h>
@@ -15,6 +16,20 @@ namespace armarx::armem::obj
return ObjectID(className);
}
+
+ ObjectID SceneSnapshot::Object::getClassID(ObjectFinder& finder) const
+ {
+ ObjectID id = getClassID();
+ if (id.dataset().empty())
+ {
+ if (std::optional<ObjectInfo> info = finder.findObject(id.className()))
+ {
+ return info->id();
+ }
+ }
+ return id;
+ }
+
}
diff --git a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
index 2baa2cd3c..add5f1f18 100644
--- a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
+++ b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
@@ -29,6 +29,7 @@
namespace armarx
{
class ObjectID;
+ class ObjectFinder;
}
namespace armarx::armem::obj
{
@@ -44,6 +45,7 @@ namespace armarx::armem::obj
Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity();
ObjectID getClassID() const;
+ ObjectID getClassID(ObjectFinder& finder) const;
};
std::vector<Object> objects;
};
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index ae496c09b..f85d71460 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -842,7 +842,7 @@ namespace armarx::armem::server::obj::instance
for (const auto& object : scene.objects)
{
- const ObjectID classID = object.getClassID();
+ const ObjectID classID = object.getClassID(objectFinder);
objpose::ObjectPose& pose = objectPoses.emplace_back();
--
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