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Updated detectionPointCloudCorners3D to a struct containing the corners point in 3D and the 2 corner axes in 3D. #147

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Merged
eisoku9618 merged 2 commits into from
Dec 25, 2023
Merged

Updated detectionPointCloudCorners3D to a struct containing the corners point in 3D and the 2 corner axes in 3D. #147

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a0e345a
Updated `detectionPointCloudCorners3D` to a struct containing the cor…
florisatmujin Nov 15, 2023
0a2253c
Merge branch 'piecepickingautoregistration' into piecepickingautoregi…
franciscorba Dec 24, 2023
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8 changes: 8 additions & 0 deletions include/mujincontrollerclient/binpickingtask.h
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Original file line number Diff line number Diff line change
Expand Up @@ -234,6 +234,12 @@ class MUJINCLIENT_API BinPickingTaskResource : public TaskResource
{
RuntimeRegistrationInfo();

struct DetectionPointCloudCorner3D
{
std::array<double, 3> cornerPoint; ///< The point in 3D where the corner is located.
std::array<std::array<double, 3>, 2> cornerAxes; ///< Two normalized vectors that describe the axes of the corner in 3D.
};

struct ObjectInfo
{
ObjectInfo();
Expand All @@ -249,6 +255,8 @@ class MUJINCLIENT_API BinPickingTaskResource : public TaskResource
double objectWeight; ///< If non-zero, use this weight fo registration. unit is kg. zero means unknown.
uint64_t sensorTimeStampMS; ///< sensor timestamp of the item. If non-zero, then valid.
uint64_t updateTimeStampMS; ///< timestamp this request was sent. If non-zero, then valid.
std::vector<DetectionPointCloudCorner3D> detectionPointCloudCorners3D; ///< a list of 3D corners in the pointcloud from which the detection was created.

} objectInfo;

struct EndEffectorPoseInfo
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12 changes: 12 additions & 0 deletions src/binpickingtask.cpp
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Expand Up @@ -624,6 +624,18 @@ void BinPickingTaskResource::ResultGetBinpickingState::Parse(const rapidjson::Va
LoadJsonValueByPath(v, "/runtimeRegistrationInfo/objectInfo/quaternion", runtimeRegistrationInfo.objectInfo.quaternion);
LoadJsonValueByPath(v, "/runtimeRegistrationInfo/objectInfo/translationInEndEffector", runtimeRegistrationInfo.objectInfo.translationInEndEffector);
LoadJsonValueByPath(v, "/runtimeRegistrationInfo/objectInfo/quaternionInEndEffector", runtimeRegistrationInfo.objectInfo.quaternionInEndEffector);
runtimeRegistrationInfo.objectInfo.detectionPointCloudCorners3D.clear();
const rapidjson::Value *pChild = rapidjson::Pointer("/runtimeRegistrationInfo/objectInfo/detectionPointCloudCorners3D").Get(v);
if (!!pChild && !pChild->IsNull()) {
const rapidjson::Value& child = *pChild;
runtimeRegistrationInfo.objectInfo.detectionPointCloudCorners3D.resize(child.Size());
for(int idpcc = 0; idpcc < (int)runtimeRegistrationInfo.objectInfo.detectionPointCloudCorners3D.size(); ++idpcc) {
const rapidjson::Value& result = child[idpcc];
runtimeRegistrationInfo.objectInfo.detectionPointCloudCorners3D[idpcc].cornerPoint = GetJsonValueByKey<std::array<double, 3> >(result, "cornerPoint");
runtimeRegistrationInfo.objectInfo.detectionPointCloudCorners3D[idpcc].cornerAxes = GetJsonValueByKey<std::array<std::array<double, 3>, 2> >(result, "cornerAxes");
}
}

runtimeRegistrationInfo.objectInfo.unit = GetJsonValueByPath<std::string>(v, "/runtimeRegistrationInfo/objectInfo/unit", "mm");
runtimeRegistrationInfo.objectInfo.pickLocationName = GetJsonValueByPath<std::string>(v, "/runtimeRegistrationInfo/objectInfo/pickLocationName", "");
runtimeRegistrationInfo.objectInfo.registrationLocationName = GetJsonValueByPath<std::string>(v, "/runtimeRegistrationInfo/objectInfo/registrationLocationName", "");
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