From e2af96a6fb7283574ccdf097b5dd7ecb1d07715e Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 24 Jun 2021 21:27:43 +0200
Subject: [PATCH] Skips Scenes/ dir in ObjectFinder
Signed-off-by: Rainer Kartmann <rainer.kartmann@kit.edu>
---
.../libraries/ArmarXObjects/ObjectFinder.cpp | 31 ++++++++++++-------
.../libraries/ArmarXObjects/ObjectFinder.h | 5 +++
2 files changed, 25 insertions(+), 11 deletions(-)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
index 8e86d96dc..2e026dd21 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
@@ -55,6 +55,12 @@ namespace armarx
}
+ bool ObjectFinder::isDatasetDirValid(const path& path) const
+ {
+ return path.filename() != "Scenes" and std::filesystem::is_directory(path);
+ }
+
+
std::optional<ObjectInfo> ObjectFinder::findObject(const std::string& dataset, const std::string& name) const
{
init();
@@ -67,8 +73,8 @@ namespace armarx
return ObjectInfo(packageName, packageDataDir, dataset, name);
}
// Search for object in datasets.
- const auto& datasets = getDatasets();
- for (const path& dataset : datasets)
+ const std::vector<std::string>& datasets = getDatasets();
+ for (const std::string& dataset : datasets)
{
if (fs::is_directory(_rootDirAbs() / dataset / name))
{
@@ -106,7 +112,7 @@ namespace armarx
{
// init(); // Done by called methods.
std::vector<std::string> datasets;
- for (const auto& dir : getDatasetDirectories())
+ for (const path& dir : getDatasetDirectories())
{
datasets.push_back(dir.filename());
}
@@ -123,9 +129,9 @@ namespace armarx
const bool local = false;
std::vector<path> dirs = simox::fs::list_directory(_rootDirAbs(), local);
std::vector<path> datasetDirs;
- for (const auto& p : dirs)
+ for (const path& p : dirs)
{
- if (std::filesystem::is_directory(p))
+ if (isDatasetDirValid(p))
{
datasetDirs.push_back(p);
}
@@ -144,7 +150,7 @@ namespace armarx
std::vector<ObjectInfo> objects;
for (const path& datasetDir : simox::fs::list_directory(_rootDirAbs(), local))
{
- if (fs::is_directory(_rootDirAbs() / datasetDir))
+ if (isDatasetDirValid(_rootDirAbs() / datasetDir))
{
std::vector<ObjectInfo> dataset = findAllObjectsOfDataset(datasetDir, checkPaths);
for (const auto& o : dataset)
@@ -169,7 +175,7 @@ namespace armarx
std::vector<armem::articulated_object::ArticulatedObjectDescription> objects;
for (const path& datasetDir : simox::fs::list_directory(_rootDirAbs(), local))
{
- if (fs::is_directory(_rootDirAbs() / datasetDir))
+ if (isDatasetDirValid(_rootDirAbs() / datasetDir))
{
const auto dataset = findAllArticulatedObjectsOfDataset(datasetDir, checkPaths);
objects.insert(objects.end(), dataset.begin(), dataset.end());
@@ -221,7 +227,9 @@ namespace armarx
return objects;
}
- std::unordered_map<std::string, std::vector<armem::articulated_object::ArticulatedObjectDescription>> ObjectFinder::findAllArticulatedObjectsByDataset(bool checkPaths) const
+
+ std::unordered_map<std::string, std::vector<armem::articulated_object::ArticulatedObjectDescription>>
+ ObjectFinder::findAllArticulatedObjectsByDataset(bool checkPaths) const
{
init();
if (!_ready())
@@ -234,7 +242,7 @@ namespace armarx
std::unordered_map<std::string, std::vector<armem::articulated_object::ArticulatedObjectDescription>> datasets;
for (const path& datasetDir : simox::fs::list_directory(_rootDirAbs(), local))
{
- if (fs::is_directory(_rootDirAbs() / datasetDir))
+ if (isDatasetDirValid(_rootDirAbs() / datasetDir))
{
const auto dataset = findAllArticulatedObjectsOfDataset(datasetDir, checkPaths);
datasets[datasetDir] = dataset;
@@ -244,7 +252,8 @@ namespace armarx
}
- std::vector<armem::articulated_object::ArticulatedObjectDescription> ObjectFinder::findAllArticulatedObjectsOfDataset(const std::string& dataset, bool checkPaths) const
+ std::vector<armem::articulated_object::ArticulatedObjectDescription>
+ ObjectFinder::findAllArticulatedObjectsOfDataset(const std::string& dataset, bool checkPaths) const
{
init();
if (!_ready())
@@ -252,7 +261,7 @@ namespace armarx
return {};
}
path datasetDir = _rootDirAbs() / dataset;
- if (!fs::is_directory(datasetDir))
+ if (!isDatasetDirValid(datasetDir))
{
ARMARX_WARNING << "Expected dataset directory for dataset '" << dataset << "': \n"
<< datasetDir;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
index 2b342f3ac..0bef06671 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
@@ -89,14 +89,18 @@ namespace armarx
private:
+
void init() const;
+ bool isDatasetDirValid(const std::filesystem::path& path) const;
path _rootDirAbs() const;
path _rootDirRel() const;
bool _ready() const;
+
private:
+
/// Name of package containing the object models (ArmarXObjects by default).
mutable std::string packageName;
@@ -105,5 +109,6 @@ namespace armarx
* Empty if package could not be found.
*/
mutable path packageDataDir;
+
};
}
--
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