Update ObjectPoseObserver to correctly handle none oobbs

source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp

@@ -164,7 +164,7 @@ namespace armarx
                         pose.objectID = { objectInfo->dataset(), pose.objectID.className(), pose.objectID.instanceName() };
                     }
                 }
-                if (!(provided.localOOBB.position && provided.localOOBB.orientation && provided.localOOBB.extents))
+                if (!provided.localOOBB)
                 {
                     pose.localOOBB = getObjectOOBB(pose.objectID);
                 }
@@ -385,9 +385,9 @@ namespace armarx
                 ARMARX_WARNING << "Cannot visualize object '" << key << "'.";
             }
 
-            if (visu.oobbs)
+            if (visu.oobbs && objectPose.localOOBB)
             {
-                simox::OrientedBox<float> oobb = objectPose.localOOBB;
+                const simox::OrientedBoxf& oobb = *objectPose.localOOBB;
                 layer.add(viz::Box(key + " OOBB")
                           .pose(pose * simox::math::pose(oobb.center(), oobb.rotation()))
                           .size(oobb.dimensions()).color(simox::Color::lime(255, 64)));
@@ -402,31 +402,30 @@ namespace armarx
         return getProxy<objpose::ObjectPoseProviderPrx>(providerName, false, "", false);
     }
 
-    simox::OrientedBoxf ObjectPoseObserver::getObjectOOBB(const ObjectID& id)
+    std::optional<simox::OrientedBoxf> ObjectPoseObserver::getObjectOOBB(const ObjectID& id)
     {
         if (auto it = oobbCache.find(id); it != oobbCache.end())
         {
             return it->second;
         }
-        else
+
+        // Try to get OOBB from repository.
+        std::optional<simox::OrientedBoxf> oobb;
+        if (std::optional<ObjectInfo> objectInfo = objectFinder.findObject(id))
         {
-            // Try to get OOBB from repository.
-            simox::OrientedBoxf oobb;
-            if (std::optional<ObjectInfo> objectInfo = objectFinder.findObject(id))
+            try
             {
-                try
-                {
-                    oobb = objectInfo->oobb();
-                }
-                catch (const std::ios_base::failure&)
-                {
-                    // Give up - no OOBB information.
-                    ARMARX_WARNING << "Could not get OOBB of object " << id << ".";
-                }
+                oobb = objectInfo->oobb();
+            }
+            catch (const std::ios_base::failure& e)
+            {
+                // Give up - no OOBB information.
+                ARMARX_WARNING << "Could not get OOBB of object " << id << ".\n- " << e.what();
+                oobb = std::nullopt;
             }
-            oobbCache[id] = oobb;  // Store result in any case.
-            return oobb;
         }
+        oobbCache[id] = oobb;  // Store result in any case.
+        return oobb;
     }
 
 }

source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h

@@ -126,7 +126,7 @@ namespace armarx
 
         objpose::ObjectPoseProviderPrx getProviderProxy(const std::string& providerName);
 
-        simox::OrientedBoxf getObjectOOBB(const ObjectID& id);
+        std::optional<simox::OrientedBoxf> getObjectOOBB(const ObjectID& id);
 
 
     private:
@@ -143,7 +143,8 @@ namespace armarx
 
 
         ObjectFinder objectFinder;
-        std::map<ObjectID, simox::OrientedBox<float>> oobbCache;
+        /// Caches results of attempts to retrieve the OOBB from ArmarXObjects.
+        std::map<ObjectID, std::optional<simox::OrientedBoxf>> oobbCache;
 
         struct Visu
         {