int main(int argc, char** argv) {
  if (argc != 3)
    printUsage(argv[0]);

  string inputFilename = argv[1];
  string outputFilename = argv[2];

  // pcl point cloud
  pcl::PointCloud<pcl::PointXYZ>::Ptr pclcloud( new pcl::PointCloud<pcl::PointXYZ>() );
  pcl::io::loadPCDFile( inputFilename, *pclcloud );

  // data conversion
  Pointcloud * cloud = new Pointcloud;
  for ( size_t i = 0; i < pclcloud->size(); ++ i ) {
    point3d pt(pclcloud->points[i].x, pclcloud->points[i].y, pclcloud->points[i].z);
    cloud->push_back( pt );
  }
  point3d sensor_origin(0,0,0);
  OcTree* tree = new OcTree(0.1);
  tree->insertPointCloud( cloud, sensor_origin );
  tree->writeBinary(outputFilename);







}
Exemple #2
0
int main(int argc, char** argv) {

  cout << endl;
  cout << "generating example map" << endl;

  OcTree tree (0.1);  // create empty tree with resolution 0.1


  // insert some measurements of occupied cells

  for (int x=-20; x<20; x++) {
    for (int y=-20; y<20; y++) {
      for (int z=-20; z<20; z++) {
        point3d endpoint ((float) x*0.05f, (float) y*0.05f, (float) z*0.05f);
        tree.updateNode(endpoint, true); // integrate 'occupied' measurement
      }
    }
  }

  // insert some measurements of free cells

  for (int x=-30; x<30; x++) {
    for (int y=-30; y<30; y++) {
      for (int z=-30; z<30; z++) {
        point3d endpoint ((float) x*0.02f-1.0f, (float) y*0.02f-1.0f, (float) z*0.02f-1.0f);
        tree.updateNode(endpoint, false);  // integrate 'free' measurement
      }
    }
  }

  cout << endl;
  cout << "performing some queries:" << endl;
  
  point3d query (0., 0., 0.);
  OcTreeNode* result = tree.search (query);
  print_query_info(query, result);

  query = point3d(-1.,-1.,-1.);
  result = tree.search (query);
  print_query_info(query, result);

  query = point3d(1.,1.,1.);
  result = tree.search (query);
  print_query_info(query, result);


  cout << endl;
  tree.writeBinary("simple_tree.bt");
  cout << "wrote example file simple_tree.bt" << endl << endl;
  cout << "now you can use octovis to visualize: octovis simple_tree.bt"  << endl;
  cout << "Hint: hit 'F'-key in viewer to see the freespace" << endl  << endl;  

}
Exemple #3
0
void App::octreeHandler(const lcm::ReceiveBuffer* rbuf, const std::string& channel, const  drc::map_octree_t* msg){
  std::cout << "MAP_OCTREE received\n";

  // TODO: Currently not handling transform, assuming identity transform

  std::stringstream datastream;
  datastream.write((const char*) msg->data.data(), msg->num_bytes);
  tree_ = new octomap::OcTree(1); //resolution will be set by data from message
  tree_->readBinary(datastream);

  std::stringstream s;
  s <<  "/tmp/map_octomap.bt" ;
  printf("Saving MAP_OCTREE to: %s\n", s.str().c_str());
  tree_->writeBinary(s.str().c_str());

  exit(-1);
}
Exemple #4
0
int main(int argc, char** argv) {

  if (argc != 2){
    std::cerr << "Error: you need to specify a testfile (.bt) as argument to read" << std::endl;
    return 1; // exit 1 means failure
  }

  std::cout << "Testing empty OcTree...\n";
  //empty tree
  {
    OcTree emptyTree(0.999);
    EXPECT_EQ(emptyTree.size(), 0);
    EXPECT_TRUE(emptyTree.writeBinary("empty.bt"));
    EXPECT_TRUE(emptyTree.write("empty.ot"));

    OcTree emptyReadTree(0.2);
    EXPECT_TRUE(emptyReadTree.readBinary("empty.bt"));
    EXPECT_EQ(emptyReadTree.size(), 0);
    EXPECT_TRUE(emptyTree == emptyReadTree);

    
    AbstractOcTree* readTreeAbstract = AbstractOcTree::read("empty.ot");
    EXPECT_TRUE(readTreeAbstract);
    OcTree* readTreeOt = dynamic_cast<OcTree*>(readTreeAbstract);
    EXPECT_TRUE(readTreeOt);  
    EXPECT_EQ(readTreeOt->size(), 0);
    EXPECT_TRUE(emptyTree == *readTreeOt);
    delete readTreeOt;
  }

  std::cout << "Testing reference OcTree from file ...\n";
  string filename = string(argv[1]);

  {
    string filenameOt = "test_io_file.ot";
    string filenameBtOut = "test_io_file.bt";
    string filenameBtCopyOut = "test_io_file_copy.bt";

    // read reference tree from input file
    OcTree tree (0.1);
    EXPECT_TRUE (tree.readBinary(filename));

    std::cout << "    Copy Constructor / assignment / ==\n";
    // test copy constructor / assignment:
    OcTree* treeCopy = new OcTree(tree);
    EXPECT_TRUE(tree == *treeCopy);
    EXPECT_TRUE(treeCopy->writeBinary(filenameBtCopyOut));

    // change a tree property, trees must be different afterwards
    treeCopy->setResolution(tree.getResolution()*2.0);
    EXPECT_FALSE(tree == *treeCopy);
    treeCopy->setResolution(tree.getResolution());
    EXPECT_TRUE(tree == *treeCopy);

    // flip one value, trees must be different afterwards:
    point3d pt(0.5, 0.5, 0.5);
    OcTreeNode* node = treeCopy->search(pt);
    if (node && treeCopy->isNodeOccupied(node))
      treeCopy->updateNode(pt, false);
    else
      treeCopy->updateNode(pt, true);

    EXPECT_FALSE(tree == *treeCopy);


    delete treeCopy;

    std::cout << "    Swap\n";
    // test swap:
    OcTree emptyT(tree.getResolution());
    OcTree emptySw(emptyT);
    OcTree otherSw(tree);
    emptySw.swapContent(otherSw);
    EXPECT_FALSE(emptyT == emptySw);
    EXPECT_TRUE(emptySw == tree);
    EXPECT_TRUE(otherSw == emptyT);


    // write again to bt, read & compare
    EXPECT_TRUE(tree.writeBinary(filenameBtOut));
    OcTree readTreeBt(0.1);
    EXPECT_TRUE(readTreeBt.readBinary(filenameBtOut));
    EXPECT_TRUE(tree == readTreeBt);

    std::cout <<"    Write to .ot / read through AbstractOcTree\n";
    // now write to .ot, read & compare
    EXPECT_TRUE(tree.write(filenameOt));
    
    AbstractOcTree* readTreeAbstract = AbstractOcTree::read(filenameOt);
    EXPECT_TRUE(readTreeAbstract);

    OcTree* readTreeOt = dynamic_cast<OcTree*>(readTreeAbstract);
    EXPECT_TRUE(readTreeOt);
    EXPECT_TRUE(tree == *readTreeOt);

    // sanity test for "==": flip one node, compare again
    point3d coord(0.1f, 0.1f, 0.1f);
    node = readTreeOt->search(coord);
    if (node && readTreeOt->isNodeOccupied(node))
      readTreeOt->updateNode(coord, false);
    else
      readTreeOt->updateNode(coord, true);

    EXPECT_FALSE(tree == *readTreeOt);
    
    delete readTreeOt;
  }

  // Test for tree headers and IO factory registry (color)
  {
    std::cout << "Testing ColorOcTree...\n";

    double res = 0.02;
    std::string filenameColor = "test_io_color_file.ot";
    ColorOcTree colorTree(res);
    EXPECT_EQ(colorTree.getTreeType(), "ColorOcTree");
    ColorOcTreeNode* colorNode = colorTree.updateNode(point3d(0.0, 0.0, 0.0), true);
    ColorOcTreeNode::Color color_red(255, 0, 0);
    colorNode->setColor(color_red);
    colorTree.setNodeColor(0.0, 0.0, 0.0, 255, 0, 0);
    colorTree.updateNode(point3d(0.1f, 0.1f, 0.1f), true);
    colorTree.setNodeColor(0.1f, 0.1f, 0.1f, 0, 0, 255);

    EXPECT_TRUE(colorTree.write(filenameColor));
    AbstractOcTree* readTreeAbstract = AbstractOcTree::read(filenameColor);
    EXPECT_TRUE(readTreeAbstract);
    EXPECT_EQ(colorTree.getTreeType(),  readTreeAbstract->getTreeType());
    ColorOcTree* readColorTree = dynamic_cast<ColorOcTree*>(readTreeAbstract);
    EXPECT_TRUE(readColorTree);
    EXPECT_TRUE(colorTree == *readColorTree);
    colorNode = colorTree.search(0.0, 0.0, 0.0);
    EXPECT_TRUE(colorNode);
    EXPECT_EQ(colorNode->getColor(), color_red);
    delete readColorTree;
  }

  // Test for tree headers and IO factory registry (stamped)
  {
    std::cout << "Testing OcTreeStamped...\n";
    double res = 0.05;
    std::string filenameStamped = "test_io_stamped_file.ot";
    OcTreeStamped stampedTree(res);
    EXPECT_EQ(stampedTree.getTreeType(), "OcTreeStamped");
    // TODO: add / modify some stamped nodes
    //ColorOcTreeNode* colorNode = colorTree.updateNode(point3d(0.0, 0.0, 0.0), true);
    //ColorOcTreeNode::Color color_red(255, 0, 0);
    //colorNode->setColor(color_red);
    //colorTree.setNodeColor(0.0, 0.0, 0.0, 255, 0, 0);
    //colorTree.updateNode(point3d(0.1f, 0.1f, 0.1f), true);
    //colorTree.setNodeColor(0.1f, 0.1f, 0.1f, 0, 0, 255);

    EXPECT_TRUE(stampedTree.write(filenameStamped));
    AbstractOcTree* readTreeAbstract = AbstractOcTree::read(filenameStamped);
    EXPECT_TRUE(readTreeAbstract);
    EXPECT_EQ(stampedTree.getTreeType(), readTreeAbstract->getTreeType());
    OcTreeStamped* readStampedTree = dynamic_cast<OcTreeStamped*>(readTreeAbstract);
    EXPECT_TRUE(readStampedTree);
    EXPECT_TRUE(stampedTree == *readStampedTree);
    //colorNode = colorTree.search(0.0, 0.0, 0.0);
    //EXPECT_TRUE(colorNode);
    //EXPECT_EQ(colorNode->getColor(), color_red);    
    
    delete readStampedTree;    
  }


  std::cerr << "Test successful.\n";
  return 0;
}
Exemple #5
0
void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[]) {
  // Usage:
  //   Constructors/Destructor:
  //    octree = octomapWrapper(resolution);  // constructor: new tree with
  //    specified resolution
  //    octree = octomapWrapper(filename);    // constructor: load from file
  //    octomapWrapper(octree);     // destructor
  //
  //   Queries:
  //    results = octomapWrapper(octree, 1, pts) // search
  //    leaf_nodes = octomapWrapper(octree, 2)  // getLeafNodes
  //
  //   Update tree:
  //    octomapWrapper(octree, 11, pts, occupied)   // updateNote(pts, occupied).
  //    pts is 3-by-n, occupied is 1-by-n logical
  //
  //   General operations:
  //    octomapWrapper(octree, 21, filename)    // save to file

  OcTree* tree = NULL;

  if (nrhs == 1) {
    if (mxIsNumeric(prhs[0])) {  // constructor w/ resolution
      if (nlhs > 0) {
        double resolution = mxGetScalar(prhs[0]);
        //        mexPrintf("Creating octree w/ resolution %f\n", resolution);
        tree = new OcTree(resolution);
        plhs[0] = createDrakeMexPointer((void*)tree, "OcTree");
      }
    } else if (mxIsChar(prhs[0])) {
      if (nlhs > 0) {
        char* filename = mxArrayToString(prhs[0]);
        //        mexPrintf("Loading octree from %s\n", filename);
        tree = new OcTree(filename);
        plhs[0] = createDrakeMexPointer((void*)tree, "OcTree");
        mxFree(filename);
      }
    } else {  // destructor.  note: assumes prhs[0] is a DrakeMexPointer (todo:
              // could check)
              //      mexPrintf("Deleting octree\n");
      destroyDrakeMexPointer<OcTree*>(prhs[0]);
    }
    return;
  }

  tree = (OcTree*)getDrakeMexPointer(prhs[0]);
  int COMMAND = (int)mxGetScalar(prhs[1]);

  switch (COMMAND) {
    case 1:  // search
    {
      mexPrintf("octree search\n");
      if (mxGetM(prhs[2]) != 3)
        mexErrMsgTxt("octomapWrapper: pts must be 3-by-n");
      int n = mxGetN(prhs[2]);
      double* pts = mxGetPrSafe(prhs[2]);
      if (nlhs > 0) {
        plhs[0] = mxCreateDoubleMatrix(1, n, mxREAL);
        double* presults = mxGetPrSafe(plhs[0]);
        for (int i = 0; i < n; i++) {
          OcTreeNode* result =
              tree->search(pts[3 * i], pts[3 * i + 1], pts[3 * i + 2]);
          if (result == NULL)
            presults[i] = -1.0;
          else
            presults[i] = result->getOccupancy();
        }
      }
    } break;
    case 2:  // get leaf nodes
    {
      //      mexPrintf("octree get leaf nodes\n");
      int N = tree->getNumLeafNodes();
      plhs[0] = mxCreateDoubleMatrix(3, N, mxREAL);
      double* leaf_xyz = mxGetPrSafe(plhs[0]);

      double* leaf_value = NULL, * leaf_size = NULL;
      if (nlhs > 1) {  // return value
        plhs[1] = mxCreateDoubleMatrix(1, N, mxREAL);
        leaf_value = mxGetPrSafe(plhs[1]);
      }
      if (nlhs > 2) {  // return size
        plhs[2] = mxCreateDoubleMatrix(1, N, mxREAL);
        leaf_size = mxGetPrSafe(plhs[2]);
      }

      for (OcTree::leaf_iterator leaf = tree->begin_leafs(),
                                 end = tree->end_leafs();
           leaf != end; ++leaf) {
        leaf_xyz[0] = leaf.getX();
        leaf_xyz[1] = leaf.getY();
        leaf_xyz[2] = leaf.getZ();
        leaf_xyz += 3;
        if (leaf_value) *leaf_value++ = leaf->getValue();
        if (leaf_size) *leaf_size++ = leaf.getSize();
      }
    } break;
    case 11:  // add occupied pts
    {
      //        mexPrintf("octree updateNode\n");
      if (mxGetM(prhs[2]) != 3)
        mexErrMsgTxt("octomapWrapper: pts must be 3-by-n");
      int n = mxGetN(prhs[2]);
      double* pts = mxGetPrSafe(prhs[2]);
      mxLogical* occupied = mxGetLogicals(prhs[3]);
      for (int i = 0; i < n; i++) {
        tree->updateNode(pts[3 * i], pts[3 * i + 1], pts[3 * i + 2],
                         occupied[i]);
      }
    } break;
    case 12:  // insert a scan of endpoints and sensor origin
    {
      // pointsA should be 3xN, originA is 3x1
      double* points = mxGetPrSafe(prhs[2]);
      double* originA = mxGetPrSafe(prhs[3]);
      int n = mxGetN(prhs[2]);
      point3d origin((float)originA[0], (float)originA[1], (float)originA[2]);
      Pointcloud pointCloud;
      for (int i = 0; i < n; i++) {
        point3d point((float)points[3 * i], (float)points[3 * i + 1],
                      (float)points[3 * i + 2]);
        pointCloud.push_back(point);
      }
      tree->insertPointCloud(pointCloud, origin);
    } break;
    case 21:  // save to file
    {
      char* filename = mxArrayToString(prhs[2]);
      //        mexPrintf("writing octree to %s\n", filename);
      tree->writeBinary(filename);
      mxFree(filename);
    } break;
    default:
      mexErrMsgTxt("octomapWrapper: Unknown command");
  }
}
int main(int argc, char** argv)
{
  ros::init(argc, argv, "pose_3d");
  
  ros::NodeHandle node;
  
  ros::Rate rate(10.0);
  
  tf::TransformListener listener;
  static tf::TransformBroadcaster br;
  tf::Transform transform;
  tf::StampedTransform stransform;
  tf::Quaternion q;

  ros::Publisher path_pub = node.advertise<nav_msgs::Path>("/youbotPath", 15);
  ros::Publisher grid_pub = node.advertise<nav_msgs::OccupancyGrid>("/nav_map", 15);
  ros::Publisher mark_pub = node.advertise<visualization_msgs::MarkerArray>("/NBVs", 15);
  
  //sleep(5);
  
  ros::Subscriber sub = node.subscribe("/octomap_binary", 15, map_cb);
  ros::Subscriber flag_sub = node.subscribe("/nbv_iter", 15, flag_cb);
  ros::Subscriber grid_sub = node.subscribe("/projected_map", 15, grid_cb);
  
  point3d sensorOffset(0.1, 0.3, 0);
  point3d firstPos;
  
  /*//Create transform from sensor to robot base
  transform.setOrigin( tf::Vector3(sensorOffset.x(), sensorOffset.y(), 0.0) );
  q.setRPY(0, 0, 0);
  transform.setRotation(q);
  br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "base", "xtion"));
  br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "baseGoal", "sensorGoal"));
  //-----------------------*/
  
  const clock_t start = std::clock();
  
  point3d curPose(-1.1, -0.05, 0.0);
  vector<point3d> NBVList;
  vector<point3d> PoseList;
  visualization_msgs::MarkerArray views;
  
  transform.setOrigin( tf::Vector3(curPose.x(), curPose.y(), 0) );
  q.setRPY(0, 0, DEG2RAD(-90));
  transform.setRotation(q);
  ros::Time gTime = ros::Time::now();
  br.sendTransform(tf::StampedTransform(transform, gTime, "vicon", "sensorGoal"));
  
  //Create transform from sensor to robot base
  //transform.setOrigin( tf::Vector3(sensorOffset.x(), sensorOffset.y(), 0.0) );
  //q.setRPY(0, 0, 0);
  //transform.setRotation(q);
  //br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "xtion", "base"));
  //br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "sensorGoal", "baseGoal"));
  //-----------------------
  
  sleep(1);
  
  //int x;
  //cin >> x;
  
  //moveBase(origin, yaw, &listener);
  
  cout << range << endl;
  
  cout << sRes << endl;
  
  //Setup Stuff
  //OcTree tree(res);
  
  cout << "Loading Sensor Model from File" << endl;
    
  ifstream readEm("SensorModel.bin", ios::in | ios::binary);
  
  while (!readEm.eof())
  {
    int buffer;
    readEm.read((char*)&buffer, sizeof(int));
    if (buffer < 0) break;
    optiMap.push_back(buffer);
    vector<int> tempRay;
    while (!readEm.eof())
    {
      readEm.read((char*)&buffer, sizeof(int));
      if (buffer < 0) break;
      tempRay.push_back(buffer);
    }
    optiRays.push_back(tempRay);
  }
  
  readEm.close();
  
  cout << "Finished Loading Sensor Model" << endl;
  
  double tempRoll, tempPitch, tempYaw;
  /*try{
  gTime = ros::Time::now();
  listener.waitForTransform("vicon", "xtion", gTime, ros::Duration(5.0));
  listener.lookupTransform("vicon", "xtion", gTime, stransform);
  }
  catch (tf::TransformException &ex) {
    ROS_ERROR("%s",ex.what());
    ros::Duration(1.0).sleep();
  }
  point3d origin(stransform.getOrigin().x(), stransform.getOrigin().y(), stransform.getOrigin().z());
  tf::Matrix3x3 rot(stransform.getRotation());
  rot.getRPY(tempRoll, tempPitch, tempYaw);*/
  
  point3d origin(0, 0, 0);
  
  NBVList.push_back(origin);
  
  cout << "Starting Pose: " << tempYaw << " : " << tempPitch << endl;
  
  visualization_msgs::Marker mark;
  mark.header.frame_id = "map";
  mark.header.stamp = ros::Time::now();
  mark.ns = "basic_shapes";
  mark.id = 0;
  mark.type = visualization_msgs::Marker::ARROW;
  mark.action = visualization_msgs::Marker::ADD;
  
  mark.pose.position.x = origin.x();
  mark.pose.position.y = origin.y();
  mark.pose.position.z = origin.z();
  
  q.setRPY(0, 0, 0);

  mark.pose.orientation.x = q.getX();
  mark.pose.orientation.y = q.getY();
  mark.pose.orientation.z = q.getZ();
  mark.pose.orientation.w = q.getW();
  
  mark.scale.x = 0.2;
  mark.scale.y = 0.02;
  mark.scale.z = 0.02;
  
  mark.color.r = 1.0f;
  mark.color.g = 0.0f;
  mark.color.a = 1.0;
  mark.color.b = 0.0f;
  
  views.markers.push_back(mark);
  
  mark_pub.publish(views);
  
  int NBVcount = 0;
  while (ros::ok())
  {
    cout << "NBV " << NBVcount++ << endl; 
    
    while (map2d.data.size() == 0 || !mapReceived)
    {
      ros::spinOnce();
    }
    
    //AbstractOcTree
    
    OcTree* treeTemp = binaryMsgToMap(mapMsg);
    
    //OcTree treeTemp(0.01);
    
    treeTemp->writeBinary("firstMap.bt");
    
    cout << "Loaded the Map" << endl;
    
    /*try{
    gTime = ros::Time::now();
    listener.waitForTransform("vicon", "xtion", gTime, ros::Duration(5.0));
    listener.lookupTransform("vicon", "xtion", gTime, stransform);
    }
    catch (tf::TransformException &ex) {
      ROS_ERROR("%s",ex.what());
      ros::Duration(1.0).sleep();
    }
    point3d camPosition (stransform.getOrigin().x(), stransform.getOrigin().y(), 0);*/
    origin = NBVList.back();
    
    cout << "Map Loaded " << treeTemp->getResolution() << endl;
    
    point3d egoPose(0, 0, 0);
    point3d endPoint(-1.4, -1.5, 0);
    
    //pObj Tuning Coefficients
    double alpha = 0.5;
    double beta = 2.0;
    
    size_t pointCount = 0;
    
    //point3d origin = curPose;
    
    OcTree tree(res);
    
    tree.setClampingThresMax(0.999);
    tree.setClampingThresMin(0.001);
    tree.setProbMiss(0.1);
    tree.setProbHit(0.995);
    
    tree.readBinary("firstMap.bt");
    
    tree.expand();
    
    /*for (OcTree::leaf_iterator iter = tree.begin_leafs(); iter != tree.end_leafs(); iter++)
    {
      if (tree.isNodeOccupied(*iter)) && (iter.getZ() < 0.03 || iter.getX() < -2 || iter.getX() > 1 || iter.getY() < -1 || iter.getY() > 1))
      {
	tree.setNodeValue(iter.getKey(), -lEmpty);
	tree.updateNode(iter.getKey(), false);
	
	if (tree.isNodeOccupied(*iter))
	{
	  cout << "Errrnk" << endl;
	}
      }
    }*/
    
    cout << origin.x() << ", " << origin.y() << endl;
    
    origin = tree.keyToCoord(tree.coordToKey(origin));
    
    cout << "Origin: " << origin.x() << " : " << origin.y() << " : " << origin.z() << endl;
    
    if (NBVcount == 1)
    {
      firstPos = origin;
    }
    
    //Use Second Tree to store pObj entities for NBV prediction    
    OcTree tree2(tree);
    
    string fileName = "algMap" + to_string(NBVcount) + ".bt";
    
    tree.writeBinary(fileName);
    
    //-------------------
    //Cost Function Work - 2D Map Creation, Dijkstras Path
    //-------------------
      
    double robotRad = 0.3;
    
    nav_msgs::MapMetaData mapMeta = map2d.info;
    double minX = mapMeta.origin.position.x;
    double minY = mapMeta.origin.position.y;
    
    cout << "2D Res: " << mapMeta.resolution;
    
    double rangeX = mapMeta.width;
    double rangeY = mapMeta.height;
    
    /*double minX, minY, minZ, maxX, maxY, maxZ;
    tree.getMetricMin(minX, minY, minZ);
    tree.getMetricMax(maxX, maxY, maxZ);
    point3d minPoint(minX, minY, minZ);
    point3d maxPoint(maxX, maxY, maxZ);
    
    cout << minX << ", " << maxX << ", " << minY << ", " << maxY << endl;
    minPoint = tree.keyToCoord(tree.coordToKey(minPoint));
    minX = minPoint.x();
    minY = minPoint.y();
    minZ = minPoint.z();
    maxPoint = tree.keyToCoord(tree.coordToKey(maxPoint));
    maxX = maxPoint.x();
    maxY = maxPoint.y();
    maxZ = maxPoint.z();
    
    cout << minX << ", " << maxX << ", " << minY << ", " << maxY << endl;
    
    tree.expand();
    
    int rangeX = round((maxX - minX) * rFactor);
    int rangeY = round((maxY - minY) * rFactor);*/
    
    vector<GridNode> gridMap(rangeX * rangeY, GridNode());
    
    for (int x = 0; x < rangeX; x++)
    {
      for (int y = 0; y < rangeY; y++)
      {
	//cout << "XY: " << x << ", " << y << endl;
	gridMap[rangeX * y + x].coords = point3d(double(x) * res + minX, double(y) * res + minY, 0);
	
	for (int i = -1; i <= 1; i += 1)
	{
	  for (int j = -1; j <= 1; j += 1)
	  {
	    if ((i != 0 || j != 0) && x + i >= 0 && x + i < rangeX && y + j >= 0 && y + j < rangeY)
	    {
	      gridMap[rangeX * y + x].neighbors.push_back(&gridMap[rangeX * (y + j) + x + i]);
	      gridMap[rangeX * y + x].edges.push_back(sqrt(pow(i, 2) + pow(j, 2)) * res);
	      
	      //cout << gridMap[rangeX*y + x].neighbors.size() << ", " << gridMap[rangeX*y + x].edges.size() << endl;
	    }
	  }
	}
      }
    }
    
    cout << "First" << endl;
    
    cout << "Relative Sizes: " << map2d.data.size() << " : " << gridMap.size() << endl;
    cout << "Dimensions: " << mapMeta.width << " by " << mapMeta.height << endl;
    
    for (int x = 0; x < rangeX; x++)
    {
      for (int y = 0; y < rangeY; y++)
      {	
	int index = rangeX * y + x;
	if (map2d.data[index] > 50)
	{
	  gridMap[index].object = true;
	  gridMap[index].occupied = true;
	  
	  for (double offX = -robotRad; offX <= robotRad; offX += res)
	  {
	    for (double offY = -robotRad; offY <= robotRad; offY += res)
	    {
	      if (sqrt(pow(offX, 2) + pow(offY, 2)) <= robotRad)
	      {
		int xInd = round((gridMap[index].coords.x() + offX - minX) * rFactor);
		int yInd = round((gridMap[index].coords.y() + offY - minY) * rFactor);
		
		if (xInd >= 0 && xInd < rangeX && yInd >= 0 && yInd < rangeY)
		{
		  int offIdx = yInd * rangeX + xInd;
		  
		  gridMap[offIdx].occupied = true;
		}
	      }
	    }
	  }
	}
      }
    }
    
    cout << "Second" << endl;
    
    cout << rangeX << ", " << rangeY << " : " << int((origin.x() - minX) * rFactor) << ", " << int((origin.y() - minY) * rFactor) << endl;
    
    int origIdx = rangeX * int((origin.y() - minY) / res) + int((origin.x() - minX) / res);
    
    //round(((origin.y() - minY) * rFactor) * rangeX + (origin.x() - minX) * rFactor);
    
    cout << origIdx << "     " << gridMap.size() << endl;
    
    GridNode* originNode = &gridMap[origIdx];
    originNode->cost = 0;
    
    cout << "Got Here" << endl;
    
    MinHeap heapy;
    
    heapy.Push(originNode);
    
    while (heapy.GetLength() > 0)
    {
      GridNode* minNode = heapy.Pop();
      
      vector<float>::iterator edgeIt = minNode->edges.begin();
      for (vector<GridNode*>::iterator iter = minNode->neighbors.begin(); iter != minNode->neighbors.end(); iter++, edgeIt++)
      {
	GridNode* nodePt = *iter;
	if ((*iter)->occupied == 0 && (*iter)->cost > (minNode->cost + *edgeIt))
	{
	  (*iter)->parent = minNode;
	  
	  if ((*iter)->state == 0)
	  {
	    (*iter)->cost = minNode->cost + *edgeIt;
	    heapy.Push((*iter));
	    (*iter)->state = 1;
	  }
	  else if ((*iter)->state == 1)
	  {
	    heapy.Update((*iter)->heapIdx, minNode->cost + *edgeIt);
	  }
	}
      }
    }
    
    cout << "Dijkstra Path Complete" << endl;
    
    nav_msgs::OccupancyGrid grid;
    grid.header.stamp = ros::Time::now();
    grid.header.frame_id = "map";
    
    nav_msgs::MapMetaData metas;
    metas.resolution = res;
    metas.origin.position.x = minX;
    metas.origin.position.y = minY;
    metas.origin.position.z = 0.07;
    metas.height = rangeY;
    metas.width = rangeX;
    
    grid.info = metas;
    
    cout << gridMap.size() << endl;
    
    for (vector<GridNode>::iterator iter = gridMap.begin(); iter != gridMap.end(); iter++)
    {
      if (iter->occupied)
      {
	grid.data.push_back(100);
      }
      else
      {
	grid.data.push_back(0);
      }
    }
    
    grid_pub.publish(grid);
    
    cout << "Map Published" << endl;
    
    pointCount = 0;
    
    int cubeCount = 0;
    int emptyCount = 0;
    /*tree.expand();
    for (OcTree::leaf_iterator iter = tree.begin_leafs(); iter != tree.end_leafs(); iter++)
    {
      if (tree.isNodeOccupied(*iter))
      {
	pointCount++;
      }
      else
      {
	emptyCount++;
      }
    }*/
    
    cout << cubeCount << " cubes" << endl;
    
    cout << "Empties: " << emptyCount << endl;
    
    //OcTreeCustom infoTree(res);
    
    //infoTree.readBinary("kinect.bt");
    
    //Copy all occupancy values from known nodes into pObj variables for those nodes
    
    //infoTree.expand();
    
    /*for (OcTreeCustom::iterator iter = infoTree.begin(); iter != infoTree.end(); iter++)
    *   { *
    *   iter->setpObj(float(iter->getOccupancy()));
  }*/
    
    int cellCount = 0;
    int unkCount = 0;
    
    //pointCount = 0;
    
    cout << "Beginning pObj Processing" << endl;
    
    for (OcTree::leaf_iterator iter = tree.begin_leafs(); iter != tree.end_leafs(); iter++)
    {
      OcTreeKey occKey = iter.getKey();
      OcTreeKey unKey;
      OcTreeKey freeKey;
      OcTreeNode *cellNode;
      OcTreeNode *unNode;
      
      if (tree.isNodeOccupied(*iter))
      {
	cellCount++;
	
	for (int i = -1; i <= 1; i++)
	{
	  for (int j = -1; j <= 1; j++)
	  {
	    for (int k = -1; k <= 1; k++)
	    {
	      if (i != 0 || j != 0 || k != 0)
	      {
		unKey = occKey;
		unKey[0] += i;
		unKey[1] += j;
		unKey[2] += k;
		
		unNode = tree.search(unKey);
		
		if (unNode == NULL)
		{
		  bool critical = false;
		  for (int u = -1; u <= 1; u++)
		  {
		    for (int v = -1; v <= 1; v++)
		    {
		      for (int w = -1; w <= 1; w++)
		      {
			if (abs(u) + abs(v) + abs(w) == 1)
			{
			  freeKey = unKey;
			  freeKey[0] += u;
			  freeKey[1] += v;
			  freeKey[2] += w;
			  
			  cellNode = tree.search(freeKey);
			  
			  if (cellNode != NULL && !tree.isNodeOccupied(cellNode) && tree.keyToCoord(freeKey).z() > 0.15)
			  {//unKey is a critical unknown cell, proceed to update pObj of unknown cells in vicinity
			    critical = true;
			  }
			}
		      }
		    }
		  }
		  
		  if (critical)
		  {
		    //cout << "Occ: " << tree.keyToCoord(occKey).x() << ", " << tree.keyToCoord(occKey).y() << ", " << tree.keyToCoord(occKey).z() << endl;
		    //cout << "Unk: " << tree.keyToCoord(unKey).x() << ", " << tree.keyToCoord(unKey).y() << ", " << tree.keyToCoord(unKey).z() << endl;
		    tree2.updateNode(tree2.coordToKey(tree.keyToCoord(unKey)), (float)log(alpha / (1 - alpha)));
		    
		    //New method using custom tree
		    //infoTree.updateNode(tree.keyToCoord(unKey), float(0));
		    //infoTree.search(tree.keyToCoord(unKey))->setpObj((float)log(alpha / (1 - alpha)));
		    
		    unkCount++;
		    
		    for (double boxX = -5 * res; boxX <= 5 * res; boxX += res)
		    {
		      for (double boxY = -5 * res; boxY <= 5 * res; boxY += res)
		      {
			for (double boxZ = -5 * res; boxZ <= 5 * res; boxZ += res)
			{
			  point3d objPoint = tree.keyToCoord(unKey) + point3d(boxX, boxY, boxZ);
			  if (objPoint.z() > 0.05)
			  {
			    double pObj = alpha*exp(-sqrt(pow(boxX, 2) + pow(boxY, 2) + pow(boxZ, 2)) * beta);
			    cellNode = tree.search(objPoint);
			    if (cellNode == NULL)
			    {
			      if (tree2.search(objPoint) == NULL)
			      {
				tree2.setNodeValue(objPoint, log(pObj / (1 - pObj)));
				
				pointCount++;
			      }
			      else
			      {
				if ((tree2.search(objPoint))->getLogOdds() < (float)log(pObj / (1 - pObj)))
				{
				  tree2.setNodeValue(objPoint, log(pObj / (1 - pObj)));
				}
				//tree2.updateNode(objPoint, max((tree2.search(objPoint))->getLogOdds(), (float)log2(pObj / (1 - pObj))));
			      }
			    }
			    /*else
			    *											{
			    *												tree2.setNodeValue(objPoint, cellNode->getLogOdds());
			    * 
			    *												infoTree.search(objPoint)->setpObj(cellNode->getOccupancy());
			  }*/
			  }
			}
		      }
		    }
		  }
		}
	      }
	    }
	  }
	}
      }
    }
    
    /*infoTree.expand();
    * 
    *   f *or (OcTreeCustom::leaf_iterator iter = infoTree.begin_leafs(searchDepth); iter != infoTree.end_leafs(); iter++)
    *   {
    *   iter->updateOccupancyChildren();
    *   if (iter->getLogOdds() != 0 && abs(iter->getOccupancy() - iter->getpObj()) > 0.01)
    *   {
    *   cout << iter->getLogOdds() << ", " << iter->getOccupancy() << ", " << iter->getpObj() << endl;
    *   addCube(iter.getCoordinate(), res, 0, 0, 1, 0.5);
  }
  if (iter->getLogOdds() == 0 && iter->getpObj() > 0.001)
  {
  addCube(iter.getCoordinate(), sRes, 0, 1, 0, 0.5);
  }
  }*/
    
    /*tree.expand();
    tree2.expand();
    for (OcTree::leaf_iterator iter = tree.begin_leafs(); iter != tree.end_leafs(); iter++)
    {
      if (tree2.search(iter.getCoordinate())->getOccupancy() != iter->getOccupancy())
      {
	cout << tree2.search(iter.getCoordinate())->getOccupancy() << ", " << iter->getOccupancy() << endl;
      }
    }*/
    
    cout << "Nothing Different" << endl;
    
    tree2.writeBinary("objMap.bt");
    
    pointCount = 0;
    
    tree2.expand();
    
    KeyRay cellList;
    point3d egoCOG(2.95, 1.95, 0);
    Quaternion egoTheta(point3d(0, 0, -M_PI / 2));
    endPoint = point3d(3.0, 0, 0);
    OcTreeKey myCell;
    OcTreeNode *cellNode;
    double cellLike;
    
    Pose6D trialPose(egoCOG, egoTheta);
    endPoint = trialPose.transform(endPoint);
    
    //Pre-Computing Table Stuff
    point3d rayOrigin(0.005, 0.005, 0.005);
    point3d rayInit(nRayLength * res, 0, 0);
    point3d rayEnd;
    
    /*vector<int> castMap;
    *   v *ector<int> logAdd;
    *   
    *   cellCount = 0;
    *   int traversed = 0;
    *   
    *   Pointcloud castCloud;
    *   
    *   for (double yaw = 0; yaw < 360; yaw++)
    *   {
    *   cout << yaw << endl;
    *   for (double pitch = -90; pitch <= 90; pitch++)
    *   {
    *   Quaternion rayTheta(point3d(0, DEG2RAD(pitch), DEG2RAD(yaw)));
    *   Pose6D rayPose(rayOrigin, rayTheta);
    *   rayEnd = rayPose.transform(rayInit);
    *   
    *   cellList.reset();
    *   tree.computeRayKeys(rayOrigin, rayEnd, cellList);
    *   //cout << "cellList Size: " << cellList.size() << endl;
    *   for (KeyRay::iterator iter = ++cellList.begin(); iter != cellList.end(); iter++)
    *   {
    *   traversed++;
    *   point3d rayCoord = tree.keyToCoord(*iter) - rayOrigin;
    *   
    *   if (rayCoord.norm() * sRes / res > 0.6)
    *   {
    *   int index = round(rayCoord.x() / res) + nRayLength + (2 * nRayLength + 1) * round(rayCoord.y() / res + nRayLength) + pow(2 * nRayLength + 1, 2) * round(rayCoord.z() / res + nRayLength);
    *   vector<int>::iterator findIt = find(castMap.begin(), castMap.end(), index);
    *   if (findIt == castMap.end())
    *   {
    *   castMap.push_back(index);
    *   castCloud.push_back(rayCoord + rayOrigin);
    *   logAdd.push_back(lFilled);
    *   cellCount++;
  }
  else
  {
  int foundIndex = distance(castMap.begin(), findIt);
  logAdd[foundIndex] += lFilled;
  }
  }
  }
  }
  }
  cout << "Cells in CastMap: " << cellCount << "out of " << traversed << "cells traversed" << endl;
  cout << "Min Index: " << *min_element(castMap.begin(), castMap.end()) << endl;
  cout << "Max Index: " << *max_element(castMap.begin(), castMap.end()) << endl;
  cout << "Max logAdd: " << *max_element(logAdd.begin(), logAdd.end()) << endl;
  cout << nRayLength << endl;
  cout << "Cloud Size: " << castCloud.size() << endl;
  cout << "Inserting Cloud..." << endl;

  tree.insertPointCloud(castCloud, rayOrigin);
  tree.writeBinary("castMap.bt");

  //Write pre-computed tables to files for quick retrieval
  ofstream outFile("mapCast.bin", ios::out | ios::binary);
  for (vector<int>::iterator iter = castMap.begin(); iter != castMap.end(); iter++)
  {
  outFile.write((char*)&(*iter), sizeof(int));
  }
  outFile.close();

  outFile = ofstream("logAdd.bin", ios::out | ios::binary);
  for (vector<int>::iterator iter = logAdd.begin(); iter != logAdd.end(); iter++)
  {
  outFile.write((char*)&(*iter), sizeof(int));
  }
  outFile.close();

  cout << "Done Writing" << endl;

  while (true)
  {

  }*/
    
    //--------------------
    //Create 3D Arrays of object information for quick retrieval in infoGain calcs
    //--------------------
    
    //First pass to find limits of info bounding box	
    double temp_x, temp_y, temp_z;
    tree2.getMetricMax(temp_x, temp_y, temp_z);
    //infoTree.getMetricMin(temp_x, temp_y, temp_z);
    ibxMin = point3d(temp_x, temp_y, temp_z);
    tree2.getMetricMin(temp_x, temp_y, temp_z);
    //infoTree.getMetricMax(temp_x, temp_y, temp_z);
    ibxMax = point3d(temp_x, temp_y, temp_z);
    
    for (OcTree::iterator iter = tree2.begin_leafs(searchDepth); iter != tree2.end_leafs(); iter++)
    {
      if (iter->getOccupancy() > 0.001)
      {
	//addCube(iter.getCoordinate(), sRes, 0, 0, 1, 0.5);
	ibxMin.x() = min(ibxMin.x(), iter.getCoordinate().x());
	ibxMin.y() = min(ibxMin.y(), iter.getCoordinate().y());
	ibxMin.z() = min(ibxMin.z(), iter.getCoordinate().z());
	
	ibxMax.x() = max(ibxMax.x(), iter.getCoordinate().x());
	ibxMax.y() = max(ibxMax.y(), iter.getCoordinate().y());
	ibxMax.z() = max(ibxMax.z(), iter.getCoordinate().z());
      }
    }
    
    /*for (OcTreeCustom::leaf_iterator iter = infoTree.begin_leafs(searchDepth); iter != infoTree.end_leafs(); iter++)
    *   { *
    *   iter->updateOccupancyChildren();
    *   if (iter->getpObj() > 0.001)
    *   {
    *   if (iter.getCoordinate().x() < ibxMin.x()) ibxMin.x() = iter.getCoordinate().x();
    *   if (iter.getCoordinate().y() < ibxMin.y()) ibxMin.y() = iter.getCoordinate().y();
    *   if (iter.getCoordinate().z() < ibxMin.z()) ibxMin.z() = iter.getCoordinate().z();
    *   
    *   if (iter.getCoordinate().x() > ibxMax.x()) ibxMax.x() = iter.getCoordinate().x();
    *   if (iter.getCoordinate().y() > ibxMax.y()) ibxMax.y() = iter.getCoordinate().y();
    *   if (iter.getCoordinate().z() > ibxMax.z()) ibxMax.z() = iter.getCoordinate().z();
  }
  }*/
    
    cout << "Min Corner: " << ibxMin.x() << ", " << ibxMin.y() << ", " << ibxMin.z() << endl;
    cout << "Max Corner: " << ibxMax.x() << ", " << ibxMax.y() << ", " << ibxMax.z() << endl;
    
    cout << "S: " << sFactor << endl;
    
    //Determine required size of infoChunk array and initialize accordingly
    boxX = round((ibxMax.x() - ibxMin.x()) / sRes + 1);
    boxY = round((ibxMax.y() - ibxMin.y()) / sRes + 1);
    boxZ = round((ibxMax.z() - ibxMin.z()) / sRes + 1);
    
    cout << boxX << ", " << boxY << ", " << boxZ << endl;
    
    infoChunk = vector<vector<float> >(boxX * boxY * boxZ, { 0 , 0 });
    
    //Second pass to populate 3D array with info values
    tree2.expand();
    for (OcTree::leaf_bbx_iterator iter = tree2.begin_leafs_bbx(ibxMin, ibxMax, searchDepth); iter != tree2.end_leafs_bbx(); iter++)
    {
      if (iter.getCoordinate().z() > 0.05 && iter->getOccupancy() > 0.001)
      {
	int xInd = round((iter.getCoordinate().x() - ibxMin.x()) * sFactor);
	int yInd = round((iter.getCoordinate().y() - ibxMin.y()) * sFactor);
	int zInd = round((iter.getCoordinate().z() - ibxMin.z()) * sFactor);
	
	if (xInd < 0 || xInd >= boxX || yInd < 0 || yInd >= boxY || zInd < 0 || zInd >= boxZ) continue;
	
	int index = xInd + yInd * boxX + zInd * boxX * boxY;
	
	//addCube(iter.getCoordinate(), sRes, 0, 0, 1, 0.5);
	infoChunk[index][1] = iter->getOccupancy();
	infoChunk[index][0] = iter->getOccupancy();
      }
    }
    
    tree.expand();
    for (OcTree::leaf_bbx_iterator iter = tree.begin_leafs_bbx(ibxMin, ibxMax, searchDepth); iter != tree.end_leafs_bbx(); iter++)
    {
      int xInd = round((iter.getCoordinate().x() - ibxMin.x()) * sFactor);
      int yInd = round((iter.getCoordinate().y() - ibxMin.y()) * sFactor);
      int zInd = round((iter.getCoordinate().z() - ibxMin.z()) * sFactor);
      
      if (xInd < 0 || xInd >= boxX || yInd < 0 || yInd >= boxY || zInd < 0 || zInd >= boxZ) continue;
      
      int index = xInd + yInd * boxX + zInd * boxX * boxY;
      
      if (iter.getCoordinate().z() > 0.05 && tree.isNodeOccupied(*iter))
      {
	double p = exp(iter->getLogOdds()) / (1 + exp(iter->getLogOdds()));
	infoChunk[index][0] = (-p * log2(p) - (1 - p) * log2(1 - p)) * infoChunk[index][1];
	//infoChunk[index][0] = iter->getLogOdds();
      }
      else
      {
	infoChunk[index][0] = 0;
      }
    }
    
    /*for (OcTreeCustom::leaf_bbx_iterator iter = infoTree.begin_leafs_bbx(ibxMin, ibxMax, searchDepth); iter != infoTree.end_leafs_bbx(); iter++)
    *   { *
    *   iter->updateOccupancyChildren();
    *   if (iter->getpObj() > 0.001)
    *   {
    *   int xInd = round((iter.getCoordinate().x() - ibxMin.x()) / sRes);
    *   int yInd = round((iter.getCoordinate().y() - ibxMin.y()) / sRes);
    *   int zInd = round((iter.getCoordinate().z() - ibxMin.z()) / sRes);
    *   
    *   cout << iter->getLogOdds() << endl;
    *   infoChunk[xInd + yInd * boxX + zInd * boxX * boxY][0] = iter->getLogOdds();
    *   infoChunk[xInd + yInd * boxX + zInd * boxX * boxY][1] = iter->getpObj();
  }
  }*/
    
    cout << "infoChunk populated, uploading sensor model" << endl;
    
    cout << "Begin Test" << endl;
    
    //Search Algorithm
    vector<InfoNode> gains;
    float maxHeight = 0.62;
    float minHeight = 0.28;
    
    pointCount = 0;
    
    double maxIG = 0;
    double maxCost = 0;
    double maxPitch = 0;
    double maxYaw = 0;
    point3d bestPos(0, 0, 0);
    int viewCount = 0;
    
    int searchCount = 0;
    
    point3d searchBoxMin = ibxMin - point3d(1.5, 1.5, 1.5);
    point3d searchBoxMax = ibxMax + point3d(1.5, 1.5, 1.5);
    
    searchBoxMin.z() = max(searchBoxMin.z(), minHeight);
    searchBoxMax.z() = min(searchBoxMax.z(), maxHeight);
    
    cout << "Search Space: " << searchBoxMin.x() << ", " << searchBoxMin.y() << ", " << searchBoxMin.z() << endl;
    cout << "To: " << searchBoxMax.x() << ", " << searchBoxMax.y() << ", " << searchBoxMax.z() << endl;
    
    //-------------
    //Heuristic Search Method
    //-------------
    /*const clock_t searchStart = clock();
    * 
    *   i *nt neighbDist = 2;
    *   double neighborStepSize = 0.02;
    *   vector<InfoNode> neighbors(6 * neighbDist, InfoNode());
    *   
    *   tree.expand();
    *   double xMax, yMax, zMax, xMin, yMin, zMin;
    *   tree.getMetricMax(xMax, yMax, zMax);
    *   tree.getMetricMin(xMin, yMin, zMin);
    *   for (OcTree::leaf_bbx_iterator iter = tree.begin_leafs_bbx(searchBoxMin, searchBoxMax, 10); iter != tree.end_leafs_bbx(); iter++)
    *   {
    *   if (iter.getCoordinate().z() < 0 || iter.getCoordinate().x() < xMin || iter.getCoordinate().x() > xMax || iter.getCoordinate().y() < yMin || iter.getCoordinate().y() > yMax || iter.getCoordinate().z() < zMin || iter.getCoordinate().z() > zMax || tree.search(iter.getCoordinate()) == NULL || tree.isNodeOccupied(tree.search(iter.getCoordinate()))) continue;
    *   
    *   searchCount++;
  }

  cout << searchCount << " positions to calculate" << endl;
  for (OcTree::leaf_iterator iter = tree.begin_leafs(11); iter != tree.end_leafs(); iter++)
  {
  if (iter.getCoordinate().z() < 0 || iter.getCoordinate().x() < xMin || iter.getCoordinate().x() > xMax || iter.getCoordinate().y() < yMin || iter.getCoordinate().y() > yMax || iter.getCoordinate().z() < zMin || iter.getCoordinate().z() > zMax || tree.search(iter.getCoordinate()) == NULL || tree.isNodeOccupied(tree.search(iter.getCoordinate()))) continue;

  if (viewCount % 100 == 0)
  {
  cout << viewCount << endl;
  }
  point3d nextPos = iter.getCoordinate();
  float pitch, yaw;
  double infoGain = getInfoGain(&tree, &tree2, nextPos, &yaw, &pitch);

  if (infoGain > 0)
  {
  gains.push_back(InfoNode(infoGain, 0, nextPos, yaw, pitch));

  if (infoGain > maxIG)
  {
  maxIG = infoGain;
  bestPos = nextPos;
  maxYaw = yaw;
  maxPitch = pitch;
  }

  //addCube(nextPos, 0.05, 1 - (infoGain / 40), infoGain / 40, 0, 0.9);
  }

  viewCount++;
  }

  cout << "First Pass: "******" views" << endl;

  sort(gains.begin(), gains.end());

  vector<InfoNode>::iterator testIt = gains.end()--;

  vector<InfoNode> searchTails;

  vector<InfoNode>::iterator iter = gains.end()--;
  for (int i = 0; i < 5; i++)
  {
  cout << i << endl;
  InfoNode curNode = *iter;

  while (true)
  {
  cout << ".";
  point3d curPoint = curNode.coords;
  double curGain = curNode.infoGain;
  vector<InfoNode>::iterator neighbIt = neighbors.begin();

  for (int offX = -neighbDist; offX <= neighbDist; offX++)
  {
  for (int offY = -neighbDist; offY <= neighbDist; offY++)
  {
  for (int offZ = -neighbDist; offZ <= neighbDist; offZ++)
  {
  if ((offX != 0) + (offY != 0) + (offZ != 0) != 1) continue;

  point3d neighbor = curPoint + point3d(offX, offY, offZ) * neighborStepSize;
  neighbIt->coords = neighbor;

  if (neighbor.z() < 0 || neighbor.x() < xMin || neighbor.x() > xMax || neighbor.y() < yMin || neighbor.y() > yMax || neighbor.z() < zMin || neighbor.z() > zMax || tree.search(neighbor) == NULL || tree.isNodeOccupied(tree.search(neighbor)))
  {
  neighbIt->infoGain = 0;
  }
  else
  {
  float pitch, yaw;
  neighbIt->infoGain = getInfoGain(&tree, &tree2, neighbor, &yaw, &pitch);
  viewCount++;
  neighbIt->pitch = pitch;
  neighbIt->yaw = yaw;
  }

  neighbIt++;
  }
  }
  }

  InfoNode maxNeighb = *max_element(neighbors.begin(), neighbors.end());

  if (maxNeighb.infoGain <= curGain)
  {
  break;
  }
  else
  {
  curNode = maxNeighb;
  }
  }

  searchTails.push_back(curNode);

  iter--;

  cout << endl;
  }

  InfoNode hNBV = *max_element(searchTails.begin(), searchTails.end());

  const clock_t searchEnd = clock();

  cout << "Heuristic NBV: " << hNBV.coords.x() << ", " << hNBV.coords.y() << ", " << hNBV.coords.z() << endl;
  cout << "With Info Gain = " << hNBV.infoGain << endl;
  cout << "In " << double(searchEnd - searchStart) / CLOCKS_PER_SEC << " seconds, for " << viewCount << "candidate viewpoints" << endl;*/
    
    //Original Grid Search
    time_t time1 = time(0);
    viewCount = 0;
    
    tree.expand();
    for (OcTree::leaf_bbx_iterator iter = tree.begin_leafs_bbx(searchBoxMin, searchBoxMax, 14); iter != tree.end_leafs_bbx(); iter++)
    {
      if (!tree.isNodeOccupied(*iter))
      {
	searchCount++;
      }
    }
    
    vector<double> infoMap(rangeX * rangeY, 0);
    
    cout << searchCount << " positions to calculate" << endl;
    for (OcTree::leaf_iterator iter = tree.begin_leafs(14); iter != tree.end_leafs(); iter++)
    {
      if (tree.search(iter.getCoordinate()) == NULL || tree.isNodeOccupied(tree.search(iter.getCoordinate())) || iter.getCoordinate().z() < minHeight || iter.getCoordinate().z() > maxHeight) continue;
      
      if (viewCount % 100 == 0)
      {
	cout << viewCount << endl;
      }
      point3d nextPos = iter.getCoordinate();
      float pitch, yaw;
      double infoGain = getInfoGain(&tree, &tree2, nextPos, &yaw, &pitch);
      
      if (infoGain > 0)
      {
	double moveCost = gridMap[rangeX * int((nextPos.y() - minY) / res) + int((nextPos.x() - minX) / res)].cost;
	
	if (infoGain > infoMap[rangeX * int((nextPos.y() - minY) / res) + int((nextPos.x() - minX) / res)])
	{
	  infoMap[rangeX * int((nextPos.y() - minY) / res) + int((nextPos.x() - minX) / res)] = infoGain;
	}
	
	gains.push_back(InfoNode(infoGain, moveCost, nextPos, yaw, pitch));
	
	if (infoGain > maxIG)
	{
	  maxIG = infoGain;
	  bestPos = nextPos;
	  maxYaw = yaw;
	  maxPitch = pitch;
	}
	
	if (moveCost > maxCost && moveCost < 600)
	{
	  maxCost = moveCost;
	}
	
	/*infoCloud->points[pointCount].x = nextPos.x();
	*	infoCloud->points[pointCount].y = nextPos.y();
	*	infoCloud->points[pointCount].z = nextPos.z();
	*	infoCloud->points[pointCount].intensity = infoGain;
	*	pointCount++;*/
	
	//addCube(nextPos, 0.05, 1 - (infoGain / 40), infoGain / 40, 0, 0.9);
      }
      
      viewCount++;
    }
    
    cout << "Time for " << viewCount << " views: " << (int)time(0) - time1 << endl;
    cout << "The NBV is at (" << bestPos.x() << ", " << bestPos.y() << ", " << bestPos.z() << ") with an expected info gain of " << maxIG << endl;
    
    cout << maxYaw << ", " << maxPitch << endl;
    
    cout << "Max Cost: " << maxCost << endl;
    
    double maxQual = 0;
    double correctIG = 0;
    point3d NBV = origin;
    
    for (vector<InfoNode>::iterator iter = gains.begin(); iter != gains.end(); iter++)
    {
      //iter->infoGain /= maxIG;
      //iter->cost /= maxCost;
      
      if (iter->cost < 600) iter->quality = iter->infoGain - 0 * iter->cost;
      else iter->quality = 0;
      
      if (iter->quality > maxQual)
      {
	maxQual = iter->quality;
	correctIG = iter->infoGain;
	NBV = iter->coords;
	maxYaw = iter->yaw;
	maxPitch = iter->pitch;
      }
    }
    
    cout << "Time for " << viewCount << " views: " << (int)time(0) - time1 << endl;
    cout << "The corrected NBV is at (" << NBV.x() << ", " << NBV.y() << ", " << NBV.z() << ") with a quality of " << maxQual << "and IG of " << correctIG << endl;
    cout << "Yaw: " << maxYaw << ", " << "Pitch: " << maxPitch << endl;
    
    point3d oldBest = bestPos;
    
    if (maxIG < 10)
    {
      cout << "Algorithm Complete" << endl;
      break;
    }
    
    NBVList.push_back(NBV);
    visualization_msgs::Marker mark;
    mark.header.frame_id = "map";
    mark.header.stamp = ros::Time::now();
    mark.ns = "basic_shapes";
    mark.id = NBVcount;
    mark.type = visualization_msgs::Marker::ARROW;
    mark.action = visualization_msgs::Marker::ADD;
    
    mark.pose.position.x = NBV.x();
    mark.pose.position.y = NBV.y();
    mark.pose.position.z = NBV.z();
    
    q.setRPY(0, DEG2RAD(-maxPitch), DEG2RAD(maxYaw));

    mark.pose.orientation.x = q.getX();
    mark.pose.orientation.y = q.getY();
    mark.pose.orientation.z = q.getZ();
    mark.pose.orientation.w = q.getW();
    
    mark.scale.x = 0.2;
    mark.scale.y = 0.02;
    mark.scale.z = 0.02;
    
    mark.color.r = 0.0f;
    mark.color.g = 1.0f;
    mark.color.a = 1.0;
    mark.color.b = 0.0f;
    
    views.markers.push_back(mark);
    
    mark_pub.publish(views);
    
    /*transform.setOrigin( tf::Vector3(NBV.x(), NBV.y(), 0) );
    q.setRPY(0, 0, DEG2RAD(maxYaw));
    transform.setRotation(q);
    gTime = ros::Time::now();
    br.sendTransform(tf::StampedTransform(transform, gTime, "vicon", "sensorGoal"));
    
    sleep(1);
    
    try{
      listener.lookupTransform("vicon", "baseGoal",
				gTime, stransform);
    }
    catch (tf::TransformException &ex) {
      ROS_ERROR("%s",ex.what());
      ros::Duration(1.0).sleep();
    }
    point3d baseGoal(stransform.getOrigin().x(), stransform.getOrigin().y(), 0);
    m = tf::Matrix3x3(stransform.getRotation());
    double bRoll, bPitch, bYaw;
    m.getRPY(bRoll, bPitch, bYaw);*/ 
    
    point3d baseGoal = NBV;
    
    GridNode* endNode = &gridMap[rangeX * int((baseGoal.y() - minY) / res) + int((baseGoal.x() - minX) / res)];
    
    vector<point3d> waypoints;
    
    while (endNode != NULL)
    {
      //cout << endNode->coords.x() << ", " << endNode->coords.y() << endl;
      //cout << "Cost: " << endNode->cost << endl;
      endNode->cost = 0;
      waypoints.push_back(endNode->coords);
      //cout << endNode->coords.x() << ", " << endNode->coords.y() << endl;
      endNode = endNode->parent;
    }
    
    reverse(waypoints.begin(), waypoints.end());
    
    nav_msgs::Path path;
    path.header.stamp = ros::Time::now();
    path.header.frame_id = "map";
    
     int state = 0;
    int oldState = -1;
    for (vector<point3d>::iterator iter = waypoints.begin(); iter != waypoints.end(); iter++)
    {
      geometry_msgs::PoseStamped pose;
      pose.header.stamp = path.header.stamp;
      pose.header.frame_id = path.header.frame_id;
      pose.pose.position.x = iter->x();
      pose.pose.position.y = iter->y();
      pose.pose.position.z = NBV.z();
      pose.pose.orientation.y = maxPitch;
      pose.pose.orientation.z = maxYaw;
      
      if (path.poses.size() > 0)
      {
	if (iter->x() == path.poses.back().pose.position.x)
	{
	  state = 0;
	}
	else if (iter->y() == path.poses.back().pose.position.y)
	{
	  state = 1;
	}
	else
	{
	  state = 2;
	}
      }
      
      //cout << "State, Old State, Size: " << state << " : " << oldState << " : " << path.poses.size() << endl;
      
      if (path.poses.size() > 1 && state == oldState)
      {
	path.poses.pop_back();
	//cout << pose.pose.position.x << ", " << pose.pose.position.y << endl;
      }
      
      path.poses.push_back(pose);
      
      oldState = state;
    }
    
    /*for (vector<point3d>::iterator iter = waypoints.begin(); iter != waypoints.end(); iter++)
    {
      geometry_msgs::PoseStamped pose;
      pose.header.stamp = path.header.stamp;
      pose.header.frame_id = path.header.frame_id;
      pose.pose.position.x = iter->x();
      pose.pose.position.y = iter->y();
      pose.pose.position.z = NBV.z();
      pose.pose.orientation.y = maxPitch;
      pose.pose.orientation.z = maxYaw;
      
      
      path.poses.push_back(pose);
      
      //cout << path.poses.back().position.x << ", " << path.poses.back().position.y << endl;
    }*/
    
    cout << "Path Message Generated" << endl;
    
    path_pub.publish<nav_msgs::Path>(path);
    ros::spinOnce();
    
    cout << "Path Message Published" << endl;
  }
  
  while (ros::ok())
  {
    mark_pub.publish(views);
    rate.sleep();
    ros::spinOnce();
  }
  
  return 0;
}
int main(int argc, char** argv) {


  //##############################################################     

  OcTree tree (0.05);  

  //  point3d origin (10.01, 10.01, 10.02);
  point3d origin (0.01f, 0.01f, 0.02f);
  point3d point_on_surface (2.01f, 0.01f, 0.01f);

  cout << "generating sphere at " << origin << " ..." << endl;

  for (int i=0; i<360; i++) {    
    for (int j=0; j<360; j++) {
      if (!tree.insertRay(origin, origin+point_on_surface)) {
        cout << "ERROR while inserting ray from " << origin << " to " << point_on_surface << endl;
      }
      point_on_surface.rotate_IP (0,0,DEG2RAD(1.));
    }
    point_on_surface.rotate_IP (0,DEG2RAD(1.),0);
  }  

  cout << "done." << endl;
  cout << "writing to sphere.bt..." << endl;
  tree.writeBinary("sphere.bt");

  // -----------------------------------------------

  cout << "casting rays ..." << endl;

  OcTree sampled_surface (0.05);  

  point3d direction = point3d (1.0,0.0,0.0);
  point3d obstacle(0,0,0);

  unsigned int hit (0);
  unsigned int miss (0);
  double mean_dist(0);

  for (int i=0; i<360; i++) {    
    for (int j=0; j<360; j++) {
      if (!tree.castRay(origin, direction, obstacle, true, 3.)) {
        miss++;
      }
      else {
        hit++;
        mean_dist += (obstacle - origin).norm();
        sampled_surface.updateNode(obstacle, true);
      }
      direction.rotate_IP (0,0,DEG2RAD(1.));
    }
    direction.rotate_IP (0,DEG2RAD(1.),0);
  }
  cout << "done." << endl;

  mean_dist /= (double) hit;
  std::cout << " hits / misses: " << hit  << " / " << miss << std::endl;
  std::cout << " mean obstacle dist: " << mean_dist << std::endl;

  cout << "writing sampled_surface.bt" << endl;
  sampled_surface.writeBinary("sampled_surface.bt");

  // -----------------------------------------------

  cout << "generating single rays..." << endl;
  OcTree single_beams(0.03333);
  int num_beams = 17;
  float beamLength = 10.0f;
  point3d single_origin (1.0f, 0.45f, 0.45f);
  point3d single_endpoint(beamLength, 0.0f, 0.0f);
	
	
  for (int i=0; i<num_beams; i++) {    
    if (!single_beams.insertRay(single_origin, single_origin+single_endpoint)) {
      cout << "ERROR while inserting ray from " << single_origin << " to " << single_endpoint << endl;
    }
    single_endpoint.rotate_IP (0,0,DEG2RAD(360.0/num_beams));
  }
	
  cout << "done." << endl;
  cout << "writing to beams.bt..." << endl;
  single_beams.writeBinary("beams.bt");

  return 0;
}
Exemple #8
0
int main(int argc, char** argv) {

  if (argc != 2){
    std::cerr << "Error: you need to specify a test as argument" << std::endl;
    return 1; // exit 1 means failure
  }
  std::string test_name (argv[1]);


  // ------------------------------------------------------------
  if (test_name == "MathVector") {
    // test constructors
    Vector3* twos = new Vector3();        
    Vector3* ones = new Vector3(1,1,1);    
    for (int i=0;i<3;i++) {
      (*twos)(i) = 2;
    }  
    // test basic operations
    Vector3 subtraction = *twos - *ones;
    Vector3 addition = *twos + *ones;
    Vector3 multiplication = *twos * 2.;
  
    for (int i=0;i<3;i++) {
      EXPECT_FLOAT_EQ (subtraction(i), 1.);
      EXPECT_FLOAT_EQ (addition(i), 3.);
      EXPECT_FLOAT_EQ (multiplication(i), 4.);
    }

    // copy constructor
    Vector3 rotation =  *ones;

    // rotation
    rotation.rotate_IP (M_PI, 1., 0.1);
    EXPECT_FLOAT_EQ (rotation.x(), 1.2750367);
    EXPECT_FLOAT_EQ (rotation.y(), (-1.1329513));
    EXPECT_FLOAT_EQ (rotation.z(), 0.30116868);
  
  // ------------------------------------------------------------
  } else if (test_name == "MathPose") {
    // constructors  
    Pose6D a (1.0f, 0.1f, 0.1f, 0.0f, 0.1f, (float) M_PI/4. );
    Pose6D b;

    Vector3 trans(1.0f, 0.1f, 0.1f);
    Quaternion rot(0.0f, 0.1f, (float) M_PI/4.);
    Pose6D c(trans, rot);

    // comparator
    EXPECT_TRUE ( a == c);
    // toEuler
    EXPECT_FLOAT_EQ (c.yaw() , M_PI/4.);

    // transform
    Vector3 t = c.transform (trans);
    EXPECT_FLOAT_EQ (t.x() , 1.6399229);
    EXPECT_FLOAT_EQ (t.y() , 0.8813442);
    EXPECT_FLOAT_EQ (t.z() , 0.099667005);

    // inverse transform
    Pose6D c_inv = c.inv();
    Vector3 t2 = c_inv.transform (t);
    EXPECT_FLOAT_EQ (t2.x() , trans.x());
    EXPECT_FLOAT_EQ (t2.y() , trans.y());
    EXPECT_FLOAT_EQ (t2.z() , trans.z());

  // ------------------------------------------------------------
  } else if (test_name == "InsertRay") {
    double p = 0.5;
    EXPECT_FLOAT_EQ(p, probability(logodds(p)));
    p = 0.1;
    EXPECT_FLOAT_EQ(p, probability(logodds(p)));
    p = 0.99;
    EXPECT_FLOAT_EQ(p, probability(logodds(p)));

    float l = 0;
    EXPECT_FLOAT_EQ(l, logodds(probability(l)));
    l = -4;
    EXPECT_FLOAT_EQ(l, logodds(probability(l)));
    l = 2;
    EXPECT_FLOAT_EQ(l, logodds(probability(l)));


    OcTree tree (0.05);
    tree.setProbHit(0.7);
    tree.setProbMiss(0.4);

    point3d origin (0.01f, 0.01f, 0.02f);
    point3d point_on_surface (2.01f,0.01f,0.01f);
  
    for (int i=0; i<360; i++) {    
      for (int j=0; j<360; j++) {
        EXPECT_TRUE (tree.insertRay(origin, origin+point_on_surface));
        point_on_surface.rotate_IP (0,0,DEG2RAD(1.));
      }
      point_on_surface.rotate_IP (0,DEG2RAD(1.),0);
    }
    EXPECT_TRUE (tree.writeBinary("sphere_rays.bt"));
    EXPECT_EQ ((int) tree.size(), 50615);
  
  // ------------------------------------------------------------
  // ray casting is now in "test_raycasting.cpp"

  // ------------------------------------------------------------
  // insert scan test
  // insert graph node test
  // write graph test
  } else if (test_name == "InsertScan") {
    Pointcloud* measurement = new Pointcloud();
  
    point3d origin (0.01f, 0.01f, 0.02f);
    point3d point_on_surface (2.01f, 0.01f, 0.01f);
  
    for (int i=0; i<360; i++) {
      for (int j=0; j<360; j++) {
        point3d p = origin+point_on_surface;
        measurement->push_back(p);
        point_on_surface.rotate_IP (0,0,DEG2RAD(1.));
      }
      point_on_surface.rotate_IP (0,DEG2RAD(1.),0);
    }
  
    OcTree tree (0.05);
    tree.insertPointCloud(*measurement, origin);
    EXPECT_EQ (tree.size(), 53959);

    ScanGraph* graph = new ScanGraph();
    Pose6D node_pose (origin.x(), origin.y(), origin.z(),0.0f,0.0f,0.0f);
    graph->addNode(measurement, node_pose);
    EXPECT_TRUE (graph->writeBinary("test.graph"));
    delete graph;
  // ------------------------------------------------------------
  // graph read file test
  } else if (test_name == "ReadGraph") {
    // not really meaningful, see better test in "test_scans.cpp"
    ScanGraph graph;
    EXPECT_TRUE (graph.readBinary("test.graph"));
  // ------------------------------------------------------------

  } else if (test_name == "StampedTree") {
    OcTreeStamped stamped_tree (0.05);
    // fill tree
    for (int x=-20; x<20; x++) 
      for (int y=-20; y<20; y++) 
        for (int z=-20; z<20; z++) {
          point3d p ((float) x*0.05f+0.01f, (float) y*0.05f+0.01f, (float) z*0.05f+0.01f);
          stamped_tree.updateNode(p, true); // integrate 'occupied' measurement 
        }
    // test if update times set
    point3d query (0.1f, 0.1f, 0.1f);
    OcTreeNodeStamped* result = stamped_tree.search (query);
    EXPECT_TRUE (result);
    unsigned int tree_time = stamped_tree.getLastUpdateTime();
    unsigned int node_time = result->getTimestamp();
    std::cout << "After 1st update (cube): Tree time " <<tree_time << "; node(0.1, 0.1, 0.1) time " << result->getTimestamp() << std::endl;
    EXPECT_TRUE (tree_time > 0);
    #ifdef _WIN32
      Sleep(1000);
    #else
      sleep(1);
    #endif
    stamped_tree.integrateMissNoTime(result);  // reduce occupancy, no time update
    std::cout << "After 2nd update (single miss): Tree time " <<tree_time << "; node(0.1, 0.1, 0.1) time " << node_time << std::endl;
    EXPECT_EQ  (node_time, result->getTimestamp()); // node time updated?
    point3d query2 = point3d  (0.1f, 0.1f, 0.3f);
    stamped_tree.updateNode(query2, true); // integrate 'occupied' measurement
    OcTreeNodeStamped* result2 = stamped_tree.search (query2);
    EXPECT_TRUE (result2);
    result = stamped_tree.search (query);
    EXPECT_TRUE (result);
    std::cout << "After 3rd update (single hit at (0.1, 0.1, 0.3): Tree time " << stamped_tree.getLastUpdateTime() << "; node(0.1, 0.1, 0.1) time " << result->getTimestamp()
        << "; node(0.1, 0.1, 0.3) time " << result2->getTimestamp() << std::endl;
    EXPECT_TRUE (result->getTimestamp() < result2->getTimestamp()); // result2 has been updated
    EXPECT_EQ(result2->getTimestamp(), stamped_tree.getLastUpdateTime());
  // ------------------------------------------------------------
  } else if (test_name == "OcTreeKey") {
    OcTree tree (0.05);  
    point3d p(0.0,0.0,0.0);
    OcTreeKey key;
    tree.coordToKeyChecked(p, key);
    point3d p_inv = tree.keyToCoord(key);
    EXPECT_FLOAT_EQ (0.025, p_inv.x());
    EXPECT_FLOAT_EQ (0.025, p_inv.y());
    EXPECT_FLOAT_EQ (0.025, p_inv.z());

  // ------------------------------------------------------------
  } else {
    std::cerr << "Invalid test name specified: " << test_name << std::endl;
    return 1;

  }

  std::cerr << "Test successful.\n";
  return 0;
}
Exemple #9
0
int main(int argc, char** argv) {
  // default values:
  double res = 0.1;
  string graphFilename = "";
  string treeFilename = "";
  double maxrange = -1;
  int max_scan_no = -1;
  bool detailedLog = false;
  bool simpleUpdate = false;
  bool discretize = false;
  unsigned char compression = 1;

  // get default sensor model values:
  OcTree emptyTree(0.1);
  double clampingMin = emptyTree.getClampingThresMin();
  double clampingMax = emptyTree.getClampingThresMax();
  double probMiss = emptyTree.getProbMiss();
  double probHit = emptyTree.getProbHit();


  timeval start; 
  timeval stop; 

  int arg = 0;
  while (++arg < argc) {
    if (! strcmp(argv[arg], "-i"))
      graphFilename = std::string(argv[++arg]);
    else if (!strcmp(argv[arg], "-o"))
      treeFilename = std::string(argv[++arg]);
    else if (! strcmp(argv[arg], "-res") && argc-arg < 2)
      printUsage(argv[0]);
    else if (! strcmp(argv[arg], "-res"))
      res = atof(argv[++arg]);
    else if (! strcmp(argv[arg], "-log"))
      detailedLog = true;
    else if (! strcmp(argv[arg], "-simple"))
      simpleUpdate = true;
    else if (! strcmp(argv[arg], "-discretize"))
      discretize = true;
    else if (! strcmp(argv[arg], "-compress"))
      OCTOMAP_WARNING("Argument -compress no longer has an effect, incremental pruning is done during each insertion.\n");
    else if (! strcmp(argv[arg], "-compressML"))
      compression = 2;
    else if (! strcmp(argv[arg], "-m"))
      maxrange = atof(argv[++arg]);
    else if (! strcmp(argv[arg], "-n"))
      max_scan_no = atoi(argv[++arg]);
    else if (! strcmp(argv[arg], "-clamping") && (argc-arg < 3))
      printUsage(argv[0]);
    else if (! strcmp(argv[arg], "-clamping")){
      clampingMin = atof(argv[++arg]);
      clampingMax = atof(argv[++arg]);
    }
    else if (! strcmp(argv[arg], "-sensor") && (argc-arg < 3))
      printUsage(argv[0]);
    else if (! strcmp(argv[arg], "-sensor")){
      probMiss = atof(argv[++arg]);
      probHit = atof(argv[++arg]);
    }
    else {
      printUsage(argv[0]);
    }
  }

  if (graphFilename == "" || treeFilename == "")
    printUsage(argv[0]);

  // verify input:
  if (res <= 0.0){
    OCTOMAP_ERROR("Resolution must be positive");
    exit(1);
  }

  if (clampingMin >= clampingMax || clampingMin < 0.0 || clampingMax > 1.0){
    OCTOMAP_ERROR("Error in clamping values:  0.0 <= [%f] < [%f] <= 1.0\n", clampingMin, clampingMax);
    exit(1);
  }

  if (probMiss >= probHit || probMiss < 0.0 || probHit > 1.0){
    OCTOMAP_ERROR("Error in sensor model (hit/miss prob.):  0.0 <= [%f] < [%f] <= 1.0\n", probMiss, probHit);
    exit(1);
  }


  std::string treeFilenameOT = treeFilename + ".ot";
  std::string treeFilenameMLOT = treeFilename + "_ml.ot";

  cout << "\nReading Graph file\n===========================\n";
  ScanGraph* graph = new ScanGraph();
  if (!graph->readBinary(graphFilename))
    exit(2);

  unsigned int num_points_in_graph = 0;
  if (max_scan_no > 0) {
    num_points_in_graph = graph->getNumPoints(max_scan_no-1);
    cout << "\n Data points in graph up to scan " << max_scan_no << ": " << num_points_in_graph << endl;
  }
  else {
    num_points_in_graph = graph->getNumPoints();
    cout << "\n Data points in graph: " << num_points_in_graph << endl;
  }

  // transform pointclouds first, so we can directly operate on them later
  for (ScanGraph::iterator scan_it = graph->begin(); scan_it != graph->end(); scan_it++) {

    pose6d frame_origin = (*scan_it)->pose;
    point3d sensor_origin = frame_origin.inv().transform((*scan_it)->pose.trans());

    (*scan_it)->scan->transform(frame_origin);
    point3d transformed_sensor_origin = frame_origin.transform(sensor_origin);
    (*scan_it)->pose = pose6d(transformed_sensor_origin, octomath::Quaternion());

  }


  std::ofstream logfile;
  if (detailedLog){
    logfile.open((treeFilename+".log").c_str());
    logfile << "# Memory of processing " << graphFilename << " over time\n";
    logfile << "# Resolution: "<< res <<"; compression: " << int(compression) << "; scan endpoints: "<< num_points_in_graph << std::endl;
    logfile << "# [scan number] [bytes octree] [bytes full 3D grid]\n";
  }



  cout << "\nCreating tree\n===========================\n";
  OcTree* tree = new OcTree(res);

  tree->setClampingThresMin(clampingMin);
  tree->setClampingThresMax(clampingMax);
  tree->setProbHit(probHit);
  tree->setProbMiss(probMiss);


  gettimeofday(&start, NULL);  // start timer
  unsigned int numScans = graph->size();
  unsigned int currentScan = 1;
  for (ScanGraph::iterator scan_it = graph->begin(); scan_it != graph->end(); scan_it++) {
    if (max_scan_no > 0) cout << "("<<currentScan << "/" << max_scan_no << ") " << flush;
    else cout << "("<<currentScan << "/" << numScans << ") " << flush;

    if (simpleUpdate)
      tree->insertPointCloudRays((*scan_it)->scan, (*scan_it)->pose.trans(), maxrange);
    else
      tree->insertPointCloud((*scan_it)->scan, (*scan_it)->pose.trans(), maxrange, false, discretize);

    if (compression == 2){
      tree->toMaxLikelihood();
      tree->prune();
    }

    if (detailedLog)
      logfile << currentScan << " " << tree->memoryUsage() << " " << tree->memoryFullGrid() << "\n";

    if ((max_scan_no > 0) && (currentScan == (unsigned int) max_scan_no))
      break;

    currentScan++;
  }
  gettimeofday(&stop, NULL);  // stop timer
  
  double time_to_insert = (stop.tv_sec - start.tv_sec) + 1.0e-6 *(stop.tv_usec - start.tv_usec);

  // get rid of graph in mem before doing anything fancy with tree (=> memory)
  delete graph;
  if (logfile.is_open())
    logfile.close();



  cout << "\nDone building tree.\n\n";
  cout << "time to insert scans: " << time_to_insert << " sec" << endl;
  cout << "time to insert 100.000 points took: " << time_to_insert/ ((double) num_points_in_graph / 100000) << " sec (avg)" << endl << endl;


  std::cout << "Pruned tree (lossless compression)\n" << "===========================\n";
  outputStatistics(tree);

  tree->write(treeFilenameOT);

  std::cout << "Pruned max-likelihood tree (lossy compression)\n" << "===========================\n";
  tree->toMaxLikelihood();
  tree->prune();
  outputStatistics(tree);


  cout << "\nWriting tree files\n===========================\n";
  tree->write(treeFilenameMLOT);
  std::cout << "Full Octree (pruned) written to "<< treeFilenameOT << std::endl;
  std::cout << "Full Octree (max.likelihood, pruned) written to "<< treeFilenameMLOT << std::endl;
  tree->writeBinary(treeFilename);
  std::cout << "Bonsai tree written to "<< treeFilename << std::endl;
  cout << endl;

  delete tree;

  exit(0);
}