From ebf508974b4d7ead165b9a31d4d0ae258537cd9d Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 25 Jun 2021 09:35:21 +0200
Subject: [PATCH] SceneSnapshot: Store just a string instead of ObjectID for
class
---
.../libraries/armem_objects/SceneSnapshot.cpp | 14 ++++++++++++--
.../libraries/armem_objects/SceneSnapshot.h | 13 +++++++------
.../armem_objects/server/instance/Segment.cpp | 13 ++++++++++---
3 files changed, 29 insertions(+), 11 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
index c410c7e35..d8ae0a10b 100644
--- a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
+++ b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
@@ -2,18 +2,26 @@
#include <SimoxUtility/json.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
+
// #include <RobotAPI/libraries/armem/core/json_conversions.h>
namespace armarx::armem::obj
{
+
+ ObjectID SceneSnapshot::Object::getClassID() const
+ {
+ return ObjectID(className);
+ }
+
}
void armarx::armem::obj::to_json(nlohmann::json& j, const SceneSnapshot::Object& rhs)
{
// j["instanceID"] = rhs.instanceID;
- j["class"] = rhs.classID.str();
+ j["class"] = rhs.className;
j["collection"] = rhs.collection;
j["position"] = rhs.position;
j["orientation"] = rhs.orientation;
@@ -23,7 +31,7 @@ void armarx::armem::obj::to_json(nlohmann::json& j, const SceneSnapshot::Object&
void armarx::armem::obj::from_json(const nlohmann::json& j, SceneSnapshot::Object& rhs)
{
// j.at("instanceID").get_to(rhs.instanceID);
- rhs.classID = ObjectID(j.at("class").get<std::string>());
+ j.at("class").get_to(rhs.className);
j.at("collection").get_to(rhs.collection);
j.at("position").get_to(rhs.position);
j.at("orientation").get_to(rhs.orientation);
@@ -41,3 +49,5 @@ void armarx::armem::obj::from_json(const nlohmann::json& j, SceneSnapshot& rhs)
{
j.at("objects").get_to(rhs.objects);
}
+
+
diff --git a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
index b7c9ed5d8..2baa2cd3c 100644
--- a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
+++ b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
@@ -25,10 +25,11 @@
#include <Eigen/Geometry>
-#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
-// #include <RobotAPI/libraries/armem/core/MemoryID.h>
-
+namespace armarx
+{
+ class ObjectID;
+}
namespace armarx::armem::obj
{
@@ -36,13 +37,13 @@ namespace armarx::armem::obj
{
struct Object
{
- // MemoryID instanceID;
-
- ObjectID classID;
+ std::string className;
std::string collection;
Eigen::Vector3f position = Eigen::Vector3f::Zero();
Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity();
+
+ ObjectID getClassID() const;
};
std::vector<Object> objects;
};
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 06dd140ed..eb81a73dc 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -49,6 +49,7 @@ namespace armarx::armem::server::obj::instance
{
try
{
+ objectInfo->setLogError(false); // Don't log missing files
return objectInfo->loadOOBB();
}
catch (const std::ios_base::failure& e)
@@ -217,6 +218,10 @@ namespace armarx::armem::server::obj::instance
{
toAron(dto.classID, instance->id());
}
+ else
+ {
+ toAron(dto.classID, MemoryID());
+ }
toAron(dto.sourceID, MemoryID());
update.instancesData.push_back(dto.toAron());
}
@@ -811,7 +816,7 @@ namespace armarx::armem::server::obj::instance
{
armem::obj::SceneSnapshot::Object& object = scene.objects.emplace_back();
// object.instanceID = entityInstance.id();
- object.classID = objectInstance->classID.entityName;
+ object.className = ObjectID(objectInstance->classID.entityName).getClassID().str();
object.collection = "";
object.position = simox::math::position(objectInstance->pose.objectPoseGlobal);
object.orientation = simox::math::orientation(objectInstance->pose.objectPoseGlobal);
@@ -838,11 +843,13 @@ namespace armarx::armem::server::obj::instance
for (const auto& object : scene.objects)
{
+ const ObjectID classID = object.getClassID();
+
objpose::ObjectPose& pose = objectPoses.emplace_back();
pose.providerName = sceneName;
pose.objectType = objpose::ObjectTypeEnum::KnownObject;
- pose.objectID = object.classID.withInstanceName(std::to_string(idCounters[object.classID]++));
+ pose.objectID = classID.withInstanceName(std::to_string(idCounters[classID]++));
pose.objectPoseGlobal = simox::math::pose(object.position, object.orientation);
pose.objectPoseRobot = pose.objectPoseGlobal;
@@ -853,7 +860,7 @@ namespace armarx::armem::server::obj::instance
pose.robotPose = Eigen::Matrix4f::Identity();
pose.confidence = 1.0;
- pose.localOOBB = getObjectOOBB(object.classID);
+ pose.localOOBB = getObjectOOBB(classID);
pose.timestamp = now;
}
--
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