From 75506df3b51ab4d0612a1437a991bcce76907a18 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 9 Oct 2020 15:53:34 +0200
Subject: [PATCH] Rename aabb() and oobb() to loadAABB/OOBB() and make them
return std::nullopt on error (instead of throwing exception)
---
.../ObjectPoseObserver/ObjectPoseObserver.cpp | 2 +-
.../libraries/ArmarXObjects/ObjectInfo.cpp | 29 +++++++++++++++----
.../libraries/ArmarXObjects/ObjectInfo.h | 14 +++++++--
3 files changed, 37 insertions(+), 8 deletions(-)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
index 6db9b9ad2..cfb470f8f 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
@@ -456,7 +456,7 @@ namespace armarx
{
try
{
- oobb = objectInfo->oobb();
+ oobb = objectInfo->loadOOBB();
}
catch (const std::ios_base::failure& e)
{
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
index ac272b10a..1dc1903ea 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
@@ -85,11 +85,20 @@ namespace armarx
return file(".json", "_bb");
}
- simox::AxisAlignedBoundingBox ObjectInfo::aabb() const
+ std::optional<simox::AxisAlignedBoundingBox> ObjectInfo::loadAABB() const
{
- nlohmann::json j = nlohmann::read_json(boundingBoxJson().absolutePath);
- nlohmann::json jaabb = j.at("aabb");
+ nlohmann::json j;
+ try
+ {
+ j = nlohmann::read_json(boundingBoxJson().absolutePath);
+ }
+ catch (const std::exception& e)
+ {
+ ARMARX_ERROR << e.what();
+ return std::nullopt;
+ }
+ nlohmann::json jaabb = j.at("aabb");
auto center = jaabb.at("center").get<Eigen::Vector3f>();
auto extents = jaabb.at("extents").get<Eigen::Vector3f>();
auto min = jaabb.at("min").get<Eigen::Vector3f>();
@@ -106,9 +115,19 @@ namespace armarx
return aabb;
}
- simox::OrientedBox<float> ObjectInfo::oobb() const
+ std::optional<simox::OrientedBox<float>> ObjectInfo::loadOOBB() const
{
- nlohmann::json j = nlohmann::read_json(boundingBoxJson().absolutePath);
+ nlohmann::json j;
+ try
+ {
+ j = nlohmann::read_json(boundingBoxJson().absolutePath);
+ }
+ catch (const std::exception& e)
+ {
+ ARMARX_ERROR << e.what();
+ return std::nullopt;
+ }
+
nlohmann::json joobb = j.at("oobb");
auto pos = joobb.at("pos").get<Eigen::Vector3f>();
auto ori = joobb.at("ori").get<Eigen::Quaternionf>().toRotationMatrix();
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
index c141bd9d4..5f50ec956 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
@@ -1,6 +1,7 @@
#pragma once
#include <filesystem>
+#include <optional>
#include <string>
#include "ObjectID.h"
@@ -63,8 +64,17 @@ namespace armarx
PackageFileLocation boundingBoxJson() const;
- simox::AxisAlignedBoundingBox aabb() const;
- simox::OrientedBox<float> oobb() const;
+ /**
+ * @brief Load the AABB (axis-aligned bounding-box) from the bounding box JSON file.
+ * @return Return the AABB if successful, `std::nullopt` if file does not exist.
+ */
+ std::optional<simox::AxisAlignedBoundingBox> loadAABB() const;
+ /**
+ * @brief Load the OOBB (object-oriented bounding box) from the bounding box JSON file.
+ * The OOBB is defined the object's local frame.
+ * @return Return the OOBB if successful, `std::nullopt` if file does not exist.
+ */
+ std::optional<simox::OrientedBox<float>> loadOOBB() const;
/**
--
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