rotation_invariant_objects_rotator.cpp

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//Global includes



//Pkg includes
#include <ros/ros.h>


//ISM includes
#include <ISM/tools/RotationInvariantObjectsRotator.hpp>


bool getNodeParameters(ros::NodeHandle nh, std::string& source_file, std::string& target_file, std::string& object_type, std::string& object_id,
                       std::vector<std::string>& rotation_invariant_types)
{
    bool success = true;

    if (!nh.getParam("source", source_file) || source_file.empty())
    {
        ROS_INFO("Missing parameter: \"source\"");
        success = false;
    }
    else
    {
        ROS_INFO_STREAM("source: " << source_file);
    }

    if (!nh.getParam("target", target_file) || target_file.empty())
    {
        ROS_INFO("Missing parameter: \"target\"");
        success = false;
    }
    else
    {
        ROS_INFO_STREAM("target: " << target_file);
    }

    if (!nh.getParam("object_type", object_type))
    {
        ROS_INFO("Missing parameter: \"object_type\"");
        success = false;
    }
    else
    {
        ROS_INFO_STREAM("object_type: " << object_type);
    }

    if (!nh.getParam("object_id", object_id))
    {
        ROS_INFO("Missing parameter: \"object_id\"");
        success = false;
    }
    else
    {
        ROS_INFO_STREAM("object_id: " << object_id);
    }

    if (!nh.getParam("rotation_invariant_types", rotation_invariant_types) || rotation_invariant_types.empty())
    {
        ROS_INFO("Missing parameter: \"rotation_invariant_types\"");
        success = false;
    }
    else
    {
        std::stringstream info;
        info << "rotation_invariant_types:";
        for (const std::string& types : rotation_invariant_types)
        {
            info << std::endl << "\t" << types;
        }
        ROS_INFO_STREAM(info.str());
    }


    return success;
}

int main (int argc, char **argv)
{
    //Usual ros node stuff
    ros::init(argc, argv, "rotation_invariant_objects_rotator");
    ros::NodeHandle nh("~");
    ISM::RotationInvariantObjectsRotator rotator;

    std::string source_file;
    std::string target_file;
    std::string object_type;
    std::string object_id;
    std::vector<std::string> rotation_invariant_types;

    if(getNodeParameters(nh, source_file, target_file, object_type, object_id, rotation_invariant_types))
    {
        rotator.rotateRotationInvariantObjects(source_file, target_file, object_type, object_id, (object_type.empty() || object_id.empty()), rotation_invariant_types);
        ROS_INFO("ROTATION COMPLETED!");
    }
    else
    {
        ROS_INFO("ROTATION ABORTED! Check launch-file for missing parameter.");
    }

    return 0;
}