From aeb8f82ffd1c6c32c4b63f897a867efd759ceb16 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 18 Sep 2020 09:52:15 +0200
Subject: [PATCH] Still try to draw object when not found locally
---
.../ObjectPoseObserver/CMakeLists.txt | 1 +
.../ObjectPoseObserver/ObjectPoseObserver.cpp | 21 ++++++++-----------
2 files changed, 10 insertions(+), 12 deletions(-)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt b/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
index 867170f06..f369dd024 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
+++ b/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
@@ -5,6 +5,7 @@ set(COMPONENT_LIBS
ArmarXCore ArmarXCoreInterfaces
ArmarXGuiComponentPlugins
RobotAPIArmarXObjects RobotAPIComponentPlugins
+ ArViz
${PROJECT_NAME}Interfaces
)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
index 773d52d34..76fb10b23 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp
@@ -382,26 +382,23 @@ namespace armarx
const armarx::ObjectID id = objectPose.objectID;
std::string key = id.str();
- std::optional<ObjectInfo> objectInfo = objectFinder.findObject(id);
-
Eigen::Matrix4f pose = visu.inGlobalFrame ? objectPose.objectPoseGlobal : objectPose.objectPoseRobot;
-
- if (objectInfo)
{
- viz::Object object = viz::Object(key)
- .file(objectInfo->package(), objectInfo->simoxXML().relativePath)
- .pose(pose);
+ viz::Object object = viz::Object(key).pose(pose);
+ if (std::optional<ObjectInfo> objectInfo = objectFinder.findObject(id))
+ {
+ object.file(objectInfo->package(), objectInfo->simoxXML().relativePath);
+ }
+ else
+ {
+ object.fileByObjectFinder(id);
+ }
if (visu.alpha < 1)
{
object.overrideColor(simox::Color::white().with_alpha(visu.alpha));
}
-
layer.add(object);
}
- else
- {
- ARMARX_WARNING << "Cannot visualize object '" << key << "'.";
- }
if (visu.oobbs && objectPose.localOOBB)
{
--
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