gen_renders.hh File Reference

Obtain camera render per grasp candidate. More...

#include <gazebo/gazebo_client.hh>
#include <gazebo/gazebo_config.h>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <iostream>
#include <chrono>
#include <thread>
#include "yaml-cpp/yaml.h"
#include "MessageTypes.hh"
#include "MessageTopics.hh"
#include "Grasp.hh"
#include "object_utils.hh"
#include "debug.hh"

Go to the source code of this file.

Macros
#define	REQ_CAPTURE   grasp::msgs::CameraRequest::CAPTURE
	Request to capture frame. More...
#define	REQ_MOVE   grasp::msgs::CameraRequest::MOVE
	Request to move camera. More...
#define	REQ_PREFIX   grasp::msgs::CameraRequest::PREFIX
	Request to change image filename prefix. More...
#define	RES_CAPTURE   grasp::msgs::CameraResponse::CAPTURE
	Response to capture frame. More...
#define	RES_MOVE   grasp::msgs::CameraResponse::MOVE
	Response to move camera. More...
#define	RES_PREFIX   grasp::msgs::CameraResponse::PREFIX
	Image filename prefix chnaged response. More...

Typedefs
typedef grasp::msgs::CameraRequest	CameraRequest
	Declaration for request message type. More...
typedef const boost::shared_ptr< const grasp::msgs::CameraRequest >	CameraRequestPtr
	Shared pointer declaration for request message type. More...
typedef grasp::msgs::CameraResponse	CameraResponse
	Declaration for response message type. More...
typedef const boost::shared_ptr< const grasp::msgs::CameraResponse >	CameraResponsePtr
	Shared pointer declaration for response message type. More...
typedef grasp::msgs::TargetRequest	TargetRequest
	Declaration for request message type. More...

Functions
const std::string	getUsage (const char *argv_0)
	Obtains usage string. More...
void	parseArgs (int argc, char **argv, std::string &obj_cfg_dir, std::string &obj_rest_dir, std::string &grasp_cfg_dir, std::string &out_img_dir, std::string &robot)
	Parses command-line arguments. More...
void	setupCommunications (gazebo::transport::NodePtr &node, std::map< std::string, gazebo::transport::PublisherPtr > &pubs, std::map< std::string, gazebo::transport::SubscriberPtr > &subs)
	Sets up gazebo communication pubs/subs. More...
void	obtainTargets (std::vector< std::string > &targets, const std::string &file_name)
	TODO. More...
void	changeImagePrefix (gazebo::transport::PublisherPtr pub, const std::string &prefix)
	TODO. More...
void	captureFrame (gazebo::transport::PublisherPtr pub)
	TODO. More...
void	moveCamera (gazebo::transport::PublisherPtr pub, ignition::math::Pose3d &pose)
	TODO. More...
bool	waitingTrigger (std::mutex &mutex, bool &trigger)
	Returns whether to keep waiting for trigger. More...
void	onCameraResponse (CameraResponsePtr &_msg)
	TODO. More...
void	waitMs (int delay)
	TODO. More...

Detailed Description

Obtain camera render per grasp candidate.

TODO

Author

João Borrego : jsbruglie

Macro Definition Documentation

#define REQ_CAPTURE   grasp::msgs::CameraRequest::CAPTURE

Request to capture frame.

#define REQ_MOVE   grasp::msgs::CameraRequest::MOVE

Request to move camera.

#define REQ_PREFIX   grasp::msgs::CameraRequest::PREFIX

Request to change image filename prefix.

#define RES_CAPTURE   grasp::msgs::CameraResponse::CAPTURE

Response to capture frame.

#define RES_MOVE   grasp::msgs::CameraResponse::MOVE

Response to move camera.

#define RES_PREFIX   grasp::msgs::CameraResponse::PREFIX

Image filename prefix chnaged response.

Typedef Documentation

typedef grasp::msgs::CameraRequest CameraRequest

Declaration for request message type.

typedef const boost::shared_ptr<const grasp::msgs::CameraRequest> CameraRequestPtr

Shared pointer declaration for request message type.

typedef grasp::msgs::CameraResponse CameraResponse

Declaration for response message type.

typedef const boost::shared_ptr<const grasp::msgs::CameraResponse> CameraResponsePtr

Shared pointer declaration for response message type.

typedef grasp::msgs::TargetRequest TargetRequest

Declaration for request message type.

Function Documentation

void captureFrame

(

gazebo::transport::PublisherPtr

pub

)

TODO.

void changeImagePrefix	(	gazebo::transport::PublisherPtr	pub,
		const std::string &	prefix
	)

TODO.

const std::string getUsage

(

const char *

argv_0

)

Obtains usage string.

Parameters

argv_0

Name of the executable

Returns

String with command-line usage

void moveCamera	(	gazebo::transport::PublisherPtr	pub,
		ignition::math::Pose3d &	pose
	)

TODO.

void obtainTargets	(	std::vector< std::string > &	targets,
		const std::string &	file_name
	)

TODO.

void onCameraResponse

(

CameraResponsePtr &

_msg

)

TODO.

void parseArgs	(	int	argc,
		char **	argv,
		std::string &	obj_cfg_dir,
		std::string &	obj_rest_dir,
		std::string &	grasp_cfg_dir,
		std::string &	out_img_dir,
		std::string &	robot
	)

Parses command-line arguments.

Parameters

argc	Argument count
argv	Arguments
obj_cfg_dir	Path to object dataset yaml
obj_rest_dir	Path to object rest poses yaml
grasp_cfg_dir	Path to grasp candidates yaml
out_img_dir	Directory for output images
robot	Robot to use

void setupCommunications	(	gazebo::transport::NodePtr &	node,
		std::map< std::string, gazebo::transport::PublisherPtr > &	pubs,
		std::map< std::string, gazebo::transport::SubscriberPtr > &	subs
	)

Sets up gazebo communication pubs/subs.

Parameters

node	Gazebo communication node pointer
pubs	Resulting map of publishers
subs	Resulting map of subscribers

bool waitingTrigger	(	std::mutex &	mutex,
		bool &	trigger
	)

Returns whether to keep waiting for trigger.

Parameters

mutex	Mutex that protects trigger variable
trigger	Trigger boolean variable

Returns

True as long as trigger is false, false otherwise

void waitMs ( int  delay )

inline

TODO.