From a1acb99bbbd6ebb340b61f46b287e4a387673d07 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 23 Jun 2020 17:19:03 +0200
Subject: [PATCH] Find and store dataset if none is given.
---
.../ObjectPoseObserver/ObjectPoseObserver.cpp | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
index f7d2eee97..9343a88d5 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
@@ -152,10 +152,18 @@ namespace armarx
robotNode->setJointValue(value + calibration.offset);
}
- for (const auto& provided : providedPoses)
+ for (const objpose::data::ProvidedObjectPose& provided : providedPoses)
{
objpose::ObjectPose& pose = objectPoses.emplace_back();
pose.fromProvidedPose(provided, robot);
+ if (pose.objectID.dataset().empty())
+ {
+ // Try to find the data set. (It might be good to cache this.)
+ if (std::optional<ObjectInfo> objectInfo = objectFinder.findObject(pose.objectID))
+ {
+ pose.objectID = { objectInfo->dataset(), pose.objectID.className(), pose.objectID.instanceName() };
+ }
+ }
if (!(provided.localOOBB.position && provided.localOOBB.orientation && provided.localOOBB.extents))
{
pose.localOOBB = getObjectOOBB(pose.objectID);
--
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