rotationInvariantObjectsRotator.cpp

Go to the documentation of this file.

#include <ISM/tools/RotationInvariantObjectsRotator.hpp>

#include <string>
#include <vector>
#include <boost/program_options.hpp>
#include <fstream>

/*
 * Command line tool to rotate coordinates system of rotation invariant objects in a given database, so that an object has a fixed
 * orientation to the map frame or to a reference object.
 * - Currently just objects of type Cup and PlateDeep are normalized to avoid dependencies to object_database ROS package.
 * - If rotation to map frame is asked, tool expects data to be already given in map frame.
 *
 * Usage:
 * - map frame as reference:
 *     ./rotationInvariantRotator -s <path-to-source-file> -t <path-to-target-file>
 *
 * - object as reference:
 *     ./rotationInvariantRotator -s <path-to-source-file> -t <path-to-target-file> -i <object-identifier> -o <object-type>
 */

using namespace ISM;
using namespace std;
namespace po = boost::program_options;


int main (int argc, char** argv) {
    po::options_description desc("Allowed options");
    desc.add_options()           
            ("help,h", "produce help message")
            ;

    po::options_description required("Required");
    required.add_options()
        ("source-file,s", po::value<string>(), "source file")
        ("target-file,t", po::value<string>(), "target file");
    desc.add(required);

    po::options_description optional("Optional");
    optional.add_options()
            ("object-type,o", po::value<string>(), "Object type")
            ("object-id,i", po::value<string>(), "Object id");
    desc.add(optional);


    po::variables_map vm;
    po::store(po::parse_command_line(argc, argv, desc), vm);
    po::notify(vm);

    if (vm.count("help") || !vm.count("source-file") || !vm.count("target-file")) {
        cout << desc << endl;
        return 1;
    }

    string objectType;
    string objectId;

    bool useMapFrame = false;
    if (!vm.count("object-type") || !vm.count("object-id")) {
        cout << "object-type/object-id are not set" << endl;
        cout << "!!!!!!!Reference object is map frame!!!!!!!" << endl;
        useMapFrame = true;
    } else {
        objectType = vm["object-type"].as<string>();
        objectId = vm["object-id"].as<string>();
    }

    string sourceFile = vm["source-file"].as<string>();
    string targetFile = vm["target-file"].as<string>();

    vector<string> rotationInvariantTypes;
    rotationInvariantTypes.push_back("Cup");
    rotationInvariantTypes.push_back("PlateDeep");

    //actual rotation process
    RotationInvariantObjectsRotator rotator;
    rotator.rotateRotationInvariantObjects(sourceFile, targetFile, objectType, objectId, useMapFrame, rotationInvariantTypes);

}