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Commit a2fed110 authored by armar-user's avatar armar-user
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Improve handling of "objects" dir, finding articulated objects

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with 103 additions and 73 deletions
source/RobotAPI/components/ArViz/Client/Elements.cpp
+ 7
− 4
View file @ a2fed110
......@@ -9,15 +9,18 @@ namespace armarx::viz
{
const std::string Object::DefaultObjectsPackage = armarx::ObjectFinder::DefaultObjectsPackageName;
const std::string Object::DefaultRelativeObjectsDirectory = armarx::ObjectFinder::DefaultObjectsDirectory;
Object& Object::fileByObjectFinder(const std::string& objectID, const std::string& objectsPackage)
Object& Object::fileByObjectFinder(const std::string& objectID, const std::string& objectsPackage,
const std::string& relativeObjectsDirectory)
{
return this->fileByObjectFinder(armarx::ObjectID(objectID), objectsPackage);
return this->fileByObjectFinder(armarx::ObjectID(objectID), objectsPackage, relativeObjectsDirectory);
}
Object& Object::fileByObjectFinder(const armarx::ObjectID& objectID, const std::string& objectsPackage)
Object& Object::fileByObjectFinder(const armarx::ObjectID& objectID, const std::string& objectsPackage,
const std::string& relativeObjectsDirectory)
{
ObjectInfo info(objectsPackage, "", objectID);
ObjectInfo info(objectsPackage, "", relativeObjectsDirectory, objectID);
armarx::PackageFileLocation file = info.simoxXML();
return this->file(file.package, file.relativePath);
}
......
source/RobotAPI/components/ArViz/Client/Elements.h
+ 7
− 2
View file @ a2fed110
......@@ -461,6 +461,7 @@ namespace armarx::viz
{
private:
static const std::string DefaultObjectsPackage;
static const std::string DefaultRelativeObjectsDirectory;
public:
using ElementOps::ElementOps;
......@@ -483,8 +484,12 @@ namespace armarx::viz
* @param objectsPackage The objects package ("ArmarXObjects" by default)
* @see <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
*/
Object& fileByObjectFinder(const armarx::ObjectID& objectID, const std::string& objectsPackage = DefaultObjectsPackage);
Object& fileByObjectFinder(const std::string& objectID, const std::string& objectsPackage = DefaultObjectsPackage);
Object& fileByObjectFinder(const armarx::ObjectID& objectID,
const std::string& objectsPackage = DefaultObjectsPackage,
const std::string& relativeObjectsDirectory = DefaultRelativeObjectsDirectory);
Object& fileByObjectFinder(const std::string& objectID,
const std::string& objectsPackage = DefaultObjectsPackage,
const std::string& relativeObjectsDirectory = DefaultRelativeObjectsDirectory);
Object& alpha(float alpha);
......
source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
+ 23
− 52
View file @ a2fed110
#include <VirtualRobot/XML/ObjectIO.h>
#include <boost/algorithm/string.hpp>
#include <set>
#include <SimoxUtility/algorithm/string.h>
#include <SimoxUtility/filesystem/list_directory.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
......@@ -17,7 +15,9 @@ namespace armarx
{
namespace fs = std::filesystem;
ObjectFinder::ObjectFinder(const std::string& objectsPackageName) : packageName(objectsPackageName)
ObjectFinder::ObjectFinder(const std::string& objectsPackageName, const ObjectFinder::path& relObjectsDir) :
packageName(objectsPackageName), relObjectsDir(relObjectsDir)
{
Logging::setTag("ObjectFinder");
}
......@@ -25,7 +25,7 @@ namespace armarx
void ObjectFinder::setPath(const std::string& path)
{
packageName = path;
packageDataDir.clear();
absPackageDataDir.clear();
}
std::string ObjectFinder::getPackageName() const
......@@ -35,11 +35,11 @@ namespace armarx
void ObjectFinder::init() const
{
if (packageDataDir.empty())
if (absPackageDataDir.empty())
{
CMakePackageFinder packageFinder(packageName);
packageDataDir = packageFinder.getDataDir();
if (packageDataDir.empty())
absPackageDataDir = packageFinder.getDataDir();
if (absPackageDataDir.empty())
{
ARMARX_WARNING << "Could not find package '" << packageName << "'.";
// throw LocalException() << "Could not find package '" << packageName << "'.";
......@@ -49,7 +49,7 @@ namespace armarx
ARMARX_VERBOSE << "Objects root directory: " << _rootDirAbs();
// make sure this data path is available => e.g. for findArticulatedObjects
armarx::ArmarXDataPath::addDataPaths(std::vector<std::string> {packageDataDir});
armarx::ArmarXDataPath::addDataPaths(std::vector<std::string> {absPackageDataDir});
}
}
}
......@@ -70,7 +70,7 @@ namespace armarx
}
if (!dataset.empty())
{
return ObjectInfo(packageName, packageDataDir, dataset, name);
return ObjectInfo(packageName, absPackageDataDir, relObjectsDir, dataset, name);
}
// Search for object in datasets.
const std::vector<std::string>& datasets = getDatasets();
......@@ -78,7 +78,7 @@ namespace armarx
{
if (fs::is_directory(_rootDirAbs() / dataset / name))
{
return ObjectInfo(packageName, packageDataDir, dataset, name);
return ObjectInfo(packageName, absPackageDataDir, relObjectsDir, dataset, name);
}
}
......@@ -217,7 +217,7 @@ namespace armarx
{
if (fs::is_directory(datasetDir / dir))
{
ObjectInfo object(packageName, packageDataDir, dataset, dir.filename());
ObjectInfo object(packageName, absPackageDataDir, relObjectsDir, dataset, dir.filename());
if (!checkPaths || object.checkPaths())
{
objects.push_back(object);
......@@ -268,51 +268,22 @@ namespace armarx
return {};
}
const std::vector<std::string> validExtensions{".urdf", ".xml"};
const auto hasValidExtension = [&](const std::string & file) -> bool
{
return std::find(validExtensions.begin(), validExtensions.end(), boost::algorithm::to_lower_copy(std::filesystem::path(file).extension().string())) != validExtensions.end();
};
std::vector<armem::articulated_object::ArticulatedObjectDescription> objects;
const bool local = true;
for (const path& dir : simox::fs::list_directory(datasetDir, local))
{
if (not fs::is_directory(datasetDir / dir))
{
continue;
}
for (const auto& file : std::filesystem::directory_iterator(datasetDir / dir))
if (fs::is_directory(datasetDir / dir))
{
const std::string xml = std::filesystem::path(file).string();
if (hasValidExtension(xml))
ObjectInfo object(packageName, absPackageDataDir, relObjectsDir, dataset, dir.filename());
std::optional<PackageFileLocation> modelFile = object.getArticulatedModel();
if (modelFile.has_value())
{
try
objects.emplace_back(armem::articulated_object::ArticulatedObjectDescription
{
const auto robot = VirtualRobot::RobotIO::loadRobot(xml, VirtualRobot::RobotIO::RobotDescription::eStructure);
if (robot != nullptr && robot->isPassive())
{
const std::string relativeXMLPath = armarx::ArmarXDataPath::getRelativeArmarXPath(xml);
objects.emplace_back(armem::articulated_object::ArticulatedObjectDescription
{
.name = robot->getName(),
.xml = {packageName, relativeXMLPath}
// .dataset = dataset
});
}
}
catch (const armarx::LocalException& ex)
{
ARMARX_WARNING << ex.what();
}
catch (...)
{
}
.name = object.idStr(),
.xml = {modelFile->package, modelFile->relativePath}
// .dataset = dataset
});
}
}
}
......@@ -401,7 +372,7 @@ namespace armarx
ObjectFinder::path ObjectFinder::_rootDirAbs() const
{
return packageDataDir / packageName / "objects";
return absPackageDataDir / packageName / relObjectsDir;
}
ObjectFinder::path ObjectFinder::_rootDirRel() const
......@@ -411,7 +382,7 @@ namespace armarx
bool ObjectFinder::_ready() const
{
return !packageDataDir.empty();
return !absPackageDataDir.empty();
}
}
......
source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
+ 9
− 3
View file @ a2fed110
......@@ -7,10 +7,11 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/armem_objects/types.h>
#include "ObjectInfo.h"
#include "ObjectPose.h"
#include <RobotAPI/libraries/armem_objects/types.h>
namespace armarx
{
......@@ -25,10 +26,12 @@ namespace armarx
public:
using path = std::filesystem::path;
inline static const std::string DefaultObjectsPackageName = "PriorKnowledgeData";
inline static const std::string DefaultObjectsDirectory = "objects";
public:
ObjectFinder(const std::string& objectsPackageName = DefaultObjectsPackageName);
ObjectFinder(const std::string& objectsPackageName = DefaultObjectsPackageName,
const path& relObjectsDir = DefaultObjectsDirectory);
ObjectFinder(ObjectFinder&&) = default;
ObjectFinder(const ObjectFinder&) = default;
......@@ -110,7 +113,10 @@ namespace armarx
* @brief Absolute path to data directory (e.g. "/.../repos/ArmarXObjects/data").
* Empty if package could not be found.
*/
mutable path packageDataDir;
mutable path absPackageDataDir;
/// Path to the directory containing objects in the package's data directory.
path relObjectsDir;
};
}
source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
+ 32
− 7
View file @ a2fed110
......@@ -14,14 +14,17 @@ namespace armarx
ObjectInfo::ObjectInfo(const std::string& packageName, const ObjectInfo::path& packageDataDir,
const ObjectID& id) :
_packageName(packageName), _packageDataDir(packageDataDir), _id(id)
const path& relObjectsPath, const ObjectID& id) :
_packageName(packageName), _absPackageDataDir(packageDataDir),
_relObjectsPath(relObjectsPath), _id(id)
{
}
ObjectInfo::ObjectInfo(const std::string& packageName, const ObjectInfo::path& packageDataDir,
const std::string& dataset, const std::string& name) :
_packageName(packageName), _packageDataDir(packageDataDir), _id(dataset, name)
const path& relObjectsPath,
const std::string& dataset, const std::string& className) :
_packageName(packageName), _absPackageDataDir(packageDataDir),
_relObjectsPath(relObjectsPath), _id(dataset, className)
{
}
......@@ -40,7 +43,7 @@ namespace armarx
return _id.dataset();
}
std::string ObjectInfo::name() const
std::string ObjectInfo::className() const
{
return _id.className();
}
......@@ -57,7 +60,7 @@ namespace armarx
ObjectInfo::path ObjectInfo::objectDirectory() const
{
return path(_packageName) / "objects" / _id.dataset() / _id.className();
return path(_packageName) / _relObjectsPath / _id.dataset() / _id.className();
}
PackageFileLocation ObjectInfo::file(const std::string& _extension, const std::string& suffix) const
......@@ -72,7 +75,7 @@ namespace armarx
PackageFileLocation loc;
loc.package = _packageName;
loc.relativePath = objectDirectory() / filename;
loc.absolutePath = _packageDataDir / loc.relativePath;
loc.absolutePath = _absPackageDataDir / loc.relativePath;
return loc;
}
......@@ -86,6 +89,28 @@ namespace armarx
return file(".xml", "_articulated");
}
PackageFileLocation ObjectInfo::articulatedUrdf() const
{
return file(".urdf", "_articulated");
}
std::optional<PackageFileLocation> ObjectInfo::getArticulatedModel() const
{
if (fs::is_regular_file(articulatedSimoxXML().absolutePath))
{
return articulatedSimoxXML();
}
else if (fs::is_regular_file(articulatedUrdf().absolutePath))
{
return articulatedUrdf();
}
else
{
return std::nullopt;
}
}
PackageFileLocation ObjectInfo::meshWrl() const
{
return file(".wrl");
......
source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
+ 25
− 5
View file @ a2fed110
......@@ -41,10 +41,19 @@ namespace armarx
public:
/**
* @brief ObjectInfo
*
* @param packageName The ArmarX package.
* @param absPackageDataDir Absolute path to the package's data directory.
* @param localObjectsPath The path where objects are stored in the data directory.
* @param id The object class ID (with dataset and class name).
*/
ObjectInfo(const std::string& packageName, const path& absPackageDataDir,
const path& relObjectsPath, const ObjectID& id);
ObjectInfo(const std::string& packageName, const path& packageDataDir,
const ObjectID& id);
ObjectInfo(const std::string& packageName, const path& packageDataDir,
const std::string& dataset, const std::string& name);
const path& relObjectsPath,
const std::string& dataset, const std::string& className);
virtual ~ObjectInfo() = default;
......@@ -56,7 +65,13 @@ namespace armarx
std::string package() const;
std::string dataset() const;
std::string name() const;
std::string className() const;
[[deprecated("This function is deprecated. Use className() instead.")]]
std::string name() const
{
return className();
}
/// Return "dataset/name".
ObjectID id() const;
std::string idStr() const;
......@@ -64,7 +79,11 @@ namespace armarx
PackageFileLocation file(const std::string& extension, const std::string& suffix = "") const;
PackageFileLocation simoxXML() const;
PackageFileLocation articulatedSimoxXML() const;
PackageFileLocation articulatedUrdf() const;
/// Return the articulated Simox XML or URDF, if one exists.
std::optional<PackageFileLocation> getArticulatedModel() const;
PackageFileLocation meshWrl() const;
PackageFileLocation wavefrontObj() const;
......@@ -116,7 +135,8 @@ namespace armarx
private:
std::string _packageName;
path _packageDataDir;
path _absPackageDataDir;
path _relObjectsPath;
ObjectID _id;
......
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