change to CPP14 library

CHANGELOG.md

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+# Changelog
+All notable changes to this project will be documented in this file.
+
+## [1.0.0] - 2019-01-24
+### Added
+- Support different deep learning frameworks: OpenVINO, CAFFE, custom.
+- Support C++11.
+
+### Changed
+- Use smart pointers instead of raw pointers.
+- Reorganize code structure.
+
+### Removed
+- Remove CAFFE dependency.
+- Remove ROS dependency.

LICENSE.md

@@ -1,6 +1,6 @@
 BSD 2-Clause License
 
-Copyright (c) 2017, Andreas ten Pas
+Copyright (c) 2018, Andreas ten Pas
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

cfg/all_axes_vino_12channels.cfg

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+# Path to config file for robot hand geometry
+hand_geometry_filename = ../cfg/hand_geometry.cfg
+
+# Path to config file for volume and image geometry
+image_geometry_filename = ../cfg/image_geometry_12channels.cfg
+
+# (OpenVINO) Path to directory that contains neural network parameters
+model_file = ../models/openvino/two_views_12_channels_all_axes.xml
+weights_file = ../models/openvino/two_views_12_channels_all_axes.bin
+device = 0
+
+# Preprocessing of point cloud
+#   voxelize: if the cloud gets voxelized/downsampled
+#   remove_outliers: if statistical outliers are removed from the cloud (used to remove noise)
+#   workspace: the workspace of the robot (dimensions of a cube centered at origin of point cloud)
+#   camera_position: the position of the camera from which the cloud was taken
+#   remove_plane_for_sampling: only draws samples which do not belong to the table plane
+voxelize = 1
+remove_outliers = 0
+workspace = -1.0 1.0 -1.0 1.0 -1.0 1.0
+camera_position = 0 0 0
+remove_plane_for_sampling = 0
+
+# Grasp candidate generation
+#   num_samples: the number of samples to be drawn from the point cloud
+#   num_threads: the number of CPU threads to be used
+#   nn_radius: the radius for the neighborhood search
+#   num_orientations: the number of robot hand orientations to evaluate
+#   rotation_axes: the axes about which the point neighborhood gets rotated
+num_samples = 500
+num_threads = 4
+nn_radius = 0.01
+num_orientations = 8
+num_finger_placements = 10
+hand_axes = 0 1 2
+deepen_hand = 1
+
+# Filtering of candidates
+#   min_aperture: the minimum gripper width
+#   max_aperture: the maximum gripper width
+#   workspace_grasps: dimensions of a cube centered at origin of point cloud; should be smaller than <workspace>
+min_aperture = 0.0
+max_aperture = 0.85
+workspace_grasps = -1 1 -1 1 -1 1
+
+# Filtering of grasps which are too low on (i.e. too close to) support surface (e.g., table or floor)
+#   filter_table_side_grasps: turn this filter on/off
+#   vertical_axis: the vertical axis in the point cloud frame
+#   angle_thresh: threshold to determine which grasps are considered to be side grasps
+#   table_height: the height of the support surface (along vertical axis)
+#   table_thresh: thresold below which grasps are considered to close too the support surface
+filter_table_side_grasps = 0
+vertical_axis = 0 0 1
+angle_thresh = 0.1
+table_height = 0.0
+table_thresh = 0.05
+
+# Grasp image creation
+#   remove_plane_before_image_calculation: remove support plane from point cloud to speed up image computations
+#   create_image_batches: creates grasp images in batches (less memory usage)
+remove_plane_before_image_calculation = 0
+create_image_batches = 0
+
+# Clustering of grasps
+#   min_inliers: minimum number of inliers per cluster; set to 0 to turn off clustering
+min_inliers = 1
+
+# Grasp selection
+#   min_score: threshold to sort out "bad" grasps
+#   num_selected: number of selected grasps (sorted by score)
+min_score = 0.5
+num_selected = 100
+
+# Visualization
+#   plot_normals: plot the surface normals
+#   plot_samples: plot the samples
+#   plot_candidates: plot the grasp candidates
+#   plot_filtered_candidates: plot the grasp candidates which remain after filtering
+#   plot_valid_grasps: plot the candidates that are identified as valid grasps
+#   plot_clustered_grasps: plot the grasps that after clustering
+#   plot_selected_grasps: plot the selected grasps (final output)
+plot_normals = 0
+plot_samples = 0
+plot_candidates = 0
+plot_filtered_candidates = 0
+plot_valid_grasps = 0
+plot_clustered_grasps = 0
+plot_selected_grasps = 1

cfg/bigbird_train_params.cfg

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+data_root = /home/andreas/data/bigbird/
+objects_file_location = /home/andreas/data/gpd/bigbird_pcds/objects.txt
+output_root = /home/andreas/data/gpd/descriptors/
+num_views_per_object = 20
+test_views = 2 5 8 13 16
+
+# Path to config file for robot hand geometry
+hand_geometry_filename = ../cfg/hand_geometry.cfg
+
+# Path to config file for volume and image geometry
+#image_geometry_filename = ../cfg/image_geometry_15channels.cfg
+image_geometry_filename = ../cfg/image_geometry_12channels.cfg
+# image_geometry_filename = ../cfg/image_geometry_3channels.cfg
+
+# Path to directory that contains neural network parameters
+lenet_params_dir = ../lenet/15channels/params/
+# lenet_params_dir = /home/andreas/data/gpd/caffe/15channels/params/
+# lenet_params_dir = /home/andreas/data/gpd/caffe/3channels/params/
+
+# Preprocessing of point cloud
+#   voxelize: if the cloud gets voxelized/downsampled
+#   remove_outliers: if statistical outliers are removed from the cloud (used to remove noise)
+#   workspace: the workspace of the robot (dimensions of a cube centered at origin of point cloud)
+#   camera_position: the position of the camera from which the cloud was taken
+voxelize = 1
+remove_outliers = 0
+workspace = -1 1 -1 1 -1 1
+camera_position = 0 0 1
+
+# Grasp candidate generation
+#   num_samples: the number of samples to be drawn from the point cloud
+#   num_threads: the number of CPU threads to be used
+#   nn_radius: the radius for the neighborhood search
+#   num_orientations: the number of robot hand orientations to evaluate
+#   rotation_axes: the axes about which the point neighborhood gets rotated
+num_samples = 500
+num_threads = 4
+nn_radius = 0.01
+num_orientations = 8
+hand_axes = 2
+
+# Filtering of candidates
+#   min_aperture: the minimum gripper width
+#   max_aperture: the maximum gripper width
+#   workspace_grasps: dimensions of a cube centered at origin of point cloud; should be smaller than <workspace>
+min_aperture = 0.0
+max_aperture = 0.85
+workspace_grasps = -0.5 1 -0.35 0.35 -0.12 1
+
+# Filtering of grasps which are too low on (i.e. too close to) support surface (e.g., table or floor)
+#   filter_table_side_grasps: turn this filter on/off
+#   vertical_axis: the vertical axis in the point cloud frame
+#   angle_thresh: threshold to determine which grasps are considered to be side grasps
+#   table_height: the height of the support surface (along vertical axis)
+#   table_thresh: thresold below which grasps are considered to close too the support surface
+filter_table_side_grasps = 0
+vertical_axis = 0 0 1
+angle_thresh = 0.1
+table_height = 0.0
+table_thresh = 0.05
+
+# Grasp image creation
+#   remove_plane_before_image_calculation: remove support plane from point cloud to speed up image computations
+#   create_image_batches: creates grasp images in batches (less memory usage)
+remove_plane_before_image_calculation = 0
+create_image_batches = 0
+
+# Clustering of grasps
+#   min_inliers: minimum number of inliers per cluster; set to 0 to turn off clustering
+min_inliers = 1
+
+# Grasp selection
+#   min_score: threshold to sort out "bad" grasps
+#   num_selected: number of selected grasps (sorted by score)
+min_score = -5000
+num_selected = 100
+
+# Visualization
+#   plot_normals: plot the surface normals
+#   plot_samples: plot the samples
+#   plot_candidates: plot the grasp candidates
+#   plot_filtered_candidates: plot the grasp candidates which remain after filtering
+#   plot_valid_grasps: plot the candidates that are identified as valid grasps
+#   plot_clustered_grasps: plot the grasps that after clustering
+#   plot_selected_grasps: plot the selected grasps (final output)
+plot_normals = 0
+plot_samples = 0
+plot_candidates = 0
+plot_filtered_candidates = 0
+plot_valid_grasps = 0
+plot_clustered_grasps = 0
+plot_selected_grasps = 0

cfg/caffe_params.cfg

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+# Path to config file for robot hand geometry
+hand_geometry_filename = ../cfg/hand_geometry.cfg
+
+# Path to config file for volume and image geometry
+image_geometry_filename = ../cfg/image_geometry_15channels.cfg
+
+# Caffe specific parameters.
+#   model_file: path to file that contains network architecture
+#   weights_file: path to file that contains neural network parameters
+#   batch_size: number of images per batch
+model_file = ../models/caffe/15channels/lenet_15_channels.prototxt
+weights_file = ../models/caffe/15channels/two_views_15_channels_53_deg.caffemodel
+batch_size = 64
+
+# Preprocessing of point cloud
+#   voxelize: if the cloud gets voxelized/downsampled
+#   remove_outliers: if statistical outliers are removed from the cloud (used to remove noise)
+#   workspace: the workspace of the robot (dimensions of a cube centered at origin of point cloud)
+#   camera_position: the position of the camera from which the cloud was taken
+#   sample_above_plane: only draws samples which do not belong to the table plane
+voxelize = 1
+remove_outliers = 0
+workspace = -1.0 1.0 -1.0 1.0 -1.0 1.0
+camera_position = 0 0 0
+sample_above_plane = 0
+
+# Grasp candidate generation
+#   num_samples: the number of samples to be drawn from the point cloud
+#   num_threads: the number of CPU threads to be used
+#   nn_radius: the radius for the neighborhood search
+#   num_orientations: the number of robot hand orientations to evaluate
+#   rotation_axes: the axes about which the point neighborhood gets rotated
+num_samples = 30
+num_threads = 4
+nn_radius = 0.01
+num_orientations = 8
+num_finger_placements = 10
+hand_axes = 2
+deepen_hand = 1
+
+# Filtering of candidates
+#   min_aperture: the minimum gripper width
+#   max_aperture: the maximum gripper width
+#   workspace_grasps: dimensions of a cube centered at origin of point cloud; should be smaller than <workspace>
+min_aperture = 0.0
+max_aperture = 0.85
+workspace_grasps = -1 1 -1 1 -1 1
+
+# Filtering of candidates based on their approach direction
+#   filter_approach_direction: turn filtering on/off
+#   direction: the direction to compare against
+#   angle_thresh: angle in radians above which grasps are filtered
+filter_approach_direction = 0
+direction = 1 0 0
+thresh_rad = 2.0
+
+# Clustering of grasps
+#   min_inliers: minimum number of inliers per cluster; set to 0 to turn off clustering
+min_inliers = 0
+
+# Grasp selection
+#   num_selected: number of selected grasps (sorted by score)
+num_selected = 5
+
+# Visualization
+#   plot_normals: plot the surface normals
+#   plot_samples: plot the samples
+#   plot_candidates: plot the grasp candidates
+#   plot_filtered_candidates: plot the grasp candidates which remain after filtering
+#   plot_valid_grasps: plot the candidates that are identified as valid grasps
+#   plot_clustered_grasps: plot the grasps that after clustering
+#   plot_selected_grasps: plot the selected grasps (final output)
+plot_normals = 0
+plot_samples = 0
+plot_candidates = 0
+plot_filtered_candidates = 0
+plot_valid_grasps = 0
+plot_clustered_grasps = 0
+plot_selected_grasps = 1

cfg/cem_vino_params.cfg

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+# Path to config file for robot hand geometry
+hand_geometry_filename = ../cfg/hand_geometry.cfg
+
+# Path to config file for volume and image geometry
+image_geometry_filename = ../cfg/image_geometry_12channels.cfg
+
+# (OpenVINO) Path to directory that contains neural network parameters
+model_file = ../models/openvino/two_views_12_channels_curv_axis.xml
+weights_file = ../models/openvino/two_views_12_channels_curv_axis.bin
+device = 0
+batch_size = 64
+
+# Preprocessing of point cloud
+#   voxelize: if the cloud gets voxelized/downsampled
+#   remove_outliers: if statistical outliers are removed from the cloud (used to remove noise)
+#   workspace: the workspace of the robot (dimensions of a cube centered at origin of point cloud)
+#   camera_position: the position of the camera from which the cloud was taken
+#   sample_above_plane: only draws samples which do not belong to the table plane
+voxelize = 1
+remove_outliers = 0
+workspace = -1.0 1.0 -1.0 1.0 -1.0 1.0
+camera_position = 0 0 0
+sample_above_plane = 1
+
+# Cross Entropy Method
+#   sampling_method: 0 -> sum of Gaussians, 1 -> max of Gaussians
+num_iterations = 10
+num_init_samples = 50
+num_samples_per_iteration = 50
+prob_rand_samples = 0.3
+standard_deviation = 1.5
+sampling_method = 1
+min_score = 0
+visualize_rounds = 0
+visualize_steps = 0
+visualize_results = 1
+
+# Grasp candidate generation
+#   num_threads: the number of CPU threads to be used
+#   nn_radius: the radius for the neighborhood search
+#   num_orientations: the number of robot hand orientations to evaluate
+#   rotation_axes: the axes about which the point neighborhood gets rotated
+num_threads = 4
+nn_radius = 0.01
+num_orientations = 8
+num_finger_placements = 10
+hand_axes = 2
+deepen_hand = 1
+
+# Filtering of candidates
+#   min_aperture: the minimum gripper width
+#   max_aperture: the maximum gripper width
+#   workspace_grasps: dimensions of a cube centered at origin of point cloud; should be smaller than <workspace>
+min_aperture = 0.0
+max_aperture = 0.085
+workspace_grasps = -1 1 -1 1 -1 1
+
+# Filtering of candidates based on their approach direction
+#   filter_approach_direction: turn filtering on/off
+#   direction: the direction to compare against
+#   angle_thresh: angle in radians above which grasps are filtered
+filter_approach_direction = 1
+direction = 1 0 0
+thresh_rad = 2.0
+
+# Clustering of grasps
+#   min_inliers: minimum number of inliers per cluster; set to 0 to turn off clustering
+min_inliers = 0
+
+# Visualization
+#   plot_normals: plot the surface normals
+#   plot_samples: plot the samples
+#   plot_candidates: plot the grasp candidates
+#   plot_filtered_candidates: plot the grasp candidates which remain after filtering
+#   plot_valid_grasps: plot the candidates that are identified as valid grasps
+#   plot_clustered_grasps: plot the grasps that after clustering
+#   plot_selected_grasps: plot the selected grasps (final output)
+plot_normals = 0
+plot_samples = 0
+plot_candidates = 0
+plot_filtered_candidates = 0
+plot_valid_grasps = 0
+plot_clustered_grasps = 0
+plot_selected_grasps = 0