int main(int argc, char** argv) {
//##############################################################
string btFilename = "";
unsigned char maxDepth = 16;
// test timing:
timeval start;
timeval stop;
const unsigned char tree_depth(16);
const unsigned int tree_max_val(32768);
double time_it, time_depr;
if (argc <= 1|| argc >3 || strcmp(argv[1], "-h") == 0){
printUsage(argv[0]);
}
btFilename = std::string(argv[1]);
if (argc > 2){
maxDepth = (unsigned char)atoi(argv[2]);
}
maxDepth = std::min((unsigned char)16,maxDepth);
if (maxDepth== 0)
maxDepth = tree_depth;
// iterate over empty tree:
OcTree emptyTree(0.2);
EXPECT_EQ(emptyTree.size(), 0);
EXPECT_EQ(emptyTree.calcNumNodes(), 0);
size_t iteratedNodes = 0;
OcTree::tree_iterator t_it = emptyTree.begin_tree(maxDepth);
OcTree::tree_iterator t_end = emptyTree.end_tree();
EXPECT_TRUE (t_it == t_end);
for( ; t_it != t_end; ++t_it){
iteratedNodes++;
}
EXPECT_EQ(iteratedNodes, 0);
for(OcTree::leaf_iterator l_it = emptyTree.begin_leafs(maxDepth), l_end=emptyTree.end_leafs(); l_it!= l_end; ++l_it){
iteratedNodes++;
}
EXPECT_EQ(iteratedNodes, 0);
cout << "\nReading OcTree file\n===========================\n";
OcTree* tree = new OcTree(btFilename);
if (tree->size()<= 1){
std::cout << "Error reading file, exiting!\n";
return 1;
}
size_t count;
std::list<OcTreeVolume> list_depr;
std::list<OcTreeVolume> list_iterator;
/**
* get number of nodes:
*/
gettimeofday(&start, NULL); // start timer
size_t num_leafs_recurs = tree->getNumLeafNodes();
gettimeofday(&stop, NULL); // stop timer
time_depr = timediff(start, stop);
gettimeofday(&start, NULL); // start timer
size_t num_leafs_it = 0;
for(OcTree::leaf_iterator it = tree->begin(), end=tree->end(); it!= end; ++it) {
num_leafs_it++;
}
gettimeofday(&stop, NULL); // stop timer
time_it = timediff(start, stop);
std::cout << "Number of leafs: " << num_leafs_it << " / " << num_leafs_recurs << ", times: "
<<time_it << " / " << time_depr << "\n========================\n\n";
/**
* get all occupied leafs
*/
point3d tree_center;
tree_center(0) = tree_center(1) = tree_center(2)
= (float) (((double) tree_max_val) * tree->getResolution());
gettimeofday(&start, NULL); // start timer
getLeafNodesRecurs(list_depr,maxDepth,tree->getRoot(), 0, tree_center, tree_center, tree, true);
gettimeofday(&stop, NULL); // stop timer
time_depr = timediff(start, stop);
gettimeofday(&start, NULL); // start timer
for(OcTree::iterator it = tree->begin(maxDepth), end=tree->end(); it!= end; ++it){
if(tree->isNodeOccupied(*it))
{
//count ++;
list_iterator.push_back(OcTreeVolume(it.getCoordinate(), it.getSize()));
}
}
gettimeofday(&stop, NULL); // stop timer
time_it = timediff(start, stop);
std::cout << "Occupied lists traversed, times: "
<<time_it << " / " << time_depr << "\n";
compareResults(list_iterator, list_depr);
std::cout << "========================\n\n";
/**
* get all free leafs
*/
list_iterator.clear();
list_depr.clear();
gettimeofday(&start, NULL); // start timer
for(OcTree::leaf_iterator it = tree->begin(maxDepth), end=tree->end(); it!= end; ++it) {
if(!tree->isNodeOccupied(*it))
list_iterator.push_back(OcTreeVolume(it.getCoordinate(), it.getSize()));
}
gettimeofday(&stop, NULL); // stop timer
time_it = timediff(start, stop);
gettimeofday(&start, NULL); // start timer
getLeafNodesRecurs(list_depr,maxDepth,tree->getRoot(), 0, tree_center, tree_center, tree, false);
gettimeofday(&stop, NULL); // stop timer
time_depr = timediff(start, stop);
std::cout << "Free lists traversed, times: "
<<time_it << " / " << time_depr << "\n";
compareResults(list_iterator, list_depr);
std::cout << "========================\n\n";
/**
* get all volumes
*/
list_iterator.clear();
list_depr.clear();
gettimeofday(&start, NULL); // start timer
getVoxelsRecurs(list_depr,maxDepth,tree->getRoot(), 0, tree_center, tree_center, tree->getResolution());
gettimeofday(&stop, NULL); // stop timer
time_depr = timediff(start, stop);
gettimeofday(&start, NULL); // start timers
for(OcTree::tree_iterator it = tree->begin_tree(maxDepth), end=tree->end_tree();
it!= end; ++it){
//count ++;
//std::cout << it.getDepth() << " " << " "<<it.getCoordinate()<< std::endl;
list_iterator.push_back(OcTreeVolume(it.getCoordinate(), it.getSize()));
}
gettimeofday(&stop, NULL); // stop timer
time_it = timediff(start, stop);
list_iterator.sort(OcTreeVolumeSortPredicate);
list_depr.sort(OcTreeVolumeSortPredicate);
std::cout << "All inner lists traversed, times: "
<<time_it << " / " << time_depr << "\n";
compareResults(list_iterator, list_depr);
std::cout << "========================\n\n";
// traverse all leaf nodes, timing:
gettimeofday(&start, NULL); // start timers
count = 0;
for(OcTree::iterator it = tree->begin(maxDepth), end=tree->end();
it!= end; ++it){
// do something:
// std::cout << it.getDepth() << " " << " "<<it.getCoordinate()<< std::endl;
count++;
}
gettimeofday(&stop, NULL); // stop timer
time_it = timediff(start, stop);
std::cout << "Time to traverse all leafs at max depth " <<(unsigned int)maxDepth <<" ("<<count<<" nodes): "<< time_it << " s\n\n";
/**
* bounding box tests
*/
//tree->expand();
// test complete tree (should be equal to no bbx)
OcTreeKey bbxMinKey, bbxMaxKey;
double temp_x,temp_y,temp_z;
tree->getMetricMin(temp_x,temp_y,temp_z);
octomap::point3d bbxMin(temp_x,temp_y,temp_z);
tree->getMetricMax(temp_x,temp_y,temp_z);
octomap::point3d bbxMax(temp_x,temp_y,temp_z);
EXPECT_TRUE(tree->coordToKeyChecked(bbxMin, bbxMinKey));
EXPECT_TRUE(tree->coordToKeyChecked(bbxMax, bbxMaxKey));
OcTree::leaf_bbx_iterator it_bbx = tree->begin_leafs_bbx(bbxMinKey,bbxMaxKey);
EXPECT_TRUE(it_bbx == tree->begin_leafs_bbx(bbxMinKey,bbxMaxKey));
OcTree::leaf_bbx_iterator end_bbx = tree->end_leafs_bbx();
EXPECT_TRUE(end_bbx == tree->end_leafs_bbx());
OcTree::leaf_iterator it = tree->begin_leafs();
EXPECT_TRUE(it == tree->begin_leafs());
OcTree::leaf_iterator end = tree->end_leafs();
EXPECT_TRUE(end == tree->end_leafs());
for( ; it!= end && it_bbx != end_bbx; ++it, ++it_bbx){
EXPECT_TRUE(it == it_bbx);
}
EXPECT_TRUE(it == end && it_bbx == end_bbx);
// now test an actual bounding box:
tree->expand(); // (currently only works properly for expanded tree (no multires)
bbxMin = point3d(-1, -1, - 1);
bbxMax = point3d(3, 2, 1);
EXPECT_TRUE(tree->coordToKeyChecked(bbxMin, bbxMinKey));
EXPECT_TRUE(tree->coordToKeyChecked(bbxMax, bbxMaxKey));
typedef unordered_ns::unordered_map<OcTreeKey, double, OcTreeKey::KeyHash> KeyVolumeMap;
KeyVolumeMap bbxVoxels;
count = 0;
for(OcTree::leaf_bbx_iterator it = tree->begin_leafs_bbx(bbxMinKey,bbxMaxKey), end=tree->end_leafs_bbx();
it!= end; ++it)
{
count++;
OcTreeKey currentKey = it.getKey();
// leaf is actually a leaf:
EXPECT_FALSE(it->hasChildren());
// leaf exists in tree:
OcTreeNode* node = tree->search(currentKey);
EXPECT_TRUE(node);
EXPECT_EQ(node, &(*it));
// all leafs are actually in the bbx:
for (unsigned i = 0; i < 3; ++i){
// if (!(currentKey[i] >= bbxMinKey[i] && currentKey[i] <= bbxMaxKey[i])){
// std::cout << "Key failed: " << i << " " << currentKey[i] << " "<< bbxMinKey[i] << " "<< bbxMaxKey[i]
// << "size: "<< it.getSize()<< std::endl;
// }
EXPECT_TRUE(currentKey[i] >= bbxMinKey[i] && currentKey[i] <= bbxMaxKey[i]);
}
bbxVoxels.insert(std::pair<OcTreeKey,double>(currentKey, it.getSize()));
}
EXPECT_EQ(bbxVoxels.size(), count);
std::cout << "Bounding box traversed ("<< count << " leaf nodes)\n\n";
// compare with manual BBX check on all leafs:
for(OcTree::leaf_iterator it = tree->begin(), end=tree->end(); it!= end; ++it) {
OcTreeKey key = it.getKey();
if ( key[0] >= bbxMinKey[0] && key[0] <= bbxMaxKey[0]
&& key[1] >= bbxMinKey[1] && key[1] <= bbxMaxKey[1]
&& key[2] >= bbxMinKey[2] && key[2] <= bbxMaxKey[2])
{
KeyVolumeMap::iterator bbxIt = bbxVoxels.find(key);
EXPECT_FALSE(bbxIt == bbxVoxels.end());
EXPECT_TRUE(key == bbxIt->first);
EXPECT_EQ(it.getSize(), bbxIt->second);
}
}
// test tree with one node:
OcTree simpleTree(0.01);
simpleTree.updateNode(point3d(10, 10, 10), 5.0f);
for(OcTree::leaf_iterator it = simpleTree.begin_leafs(maxDepth), end=simpleTree.end_leafs(); it!= end; ++it) {
std::cout << it.getDepth() << " " << " "<<it.getCoordinate()<< std::endl;
}
std::cout << "Tests successful\n";
return 0;
}
void compareCallbackUsingRegions(const ros::TimerEvent&)
{
// MODE 2: COMPARE OCTOMAP WITH REGIONS
// Compare a Octomap retrieved by a topic with Regions previously defined and check for inconsistencies.
ros::Time t= ros::Time::now();
ROS_INFO("Compare callback using regions triggered");
// Checks if the OcTree Target was already received.
if (octree_target == NULL)
{
ROS_INFO("OcTree Target Not Found");
return;
}
// Checks if the received target has changed, if not, exits the callback.
if (flg_received_new_target==true)
{
flg_received_new_target = false;
}
else
{
return;
}
// Visualization Message Marker Array Initialization
visualization_msgs::MarkerArray ma;
visualization_msgs::MarkerArray ma_inconsistencies;
visualization_msgs::MarkerArray ma_clusters;
visualization_msgs::Marker marker_deleteall;
marker_deleteall.header.stamp = ros::Time();
marker_deleteall.header.frame_id = octree_frame_id ;
marker_deleteall.ns = "target_inconsistent";
marker_deleteall.action = 3;
size_t id=0;
size_t id_inconsistencies=0;
size_t id_noneighbors=0;
// Color initialization
std_msgs::ColorRGBA color_occupied;
color_occupied.r = 0; color_occupied.g = 0; color_occupied.b = 0.5; color_occupied.a = .8;
std_msgs::ColorRGBA color_inconsistent;
color_inconsistent.r = .5; color_inconsistent.g = 0; color_inconsistent.b = 0; color_inconsistent.a = .4;
std_msgs::ColorRGBA color_inconsistent_missing;
color_inconsistent_missing.r = .0; color_inconsistent_missing.g = 0.5; color_inconsistent_missing.b = 0; color_inconsistent_missing.a = .4;
std_msgs::ColorRGBA color_target_volume;
color_target_volume.r = .5; color_target_volume.g = 0.5; color_target_volume.b = 0; color_target_volume.a = 1;
std_msgs::ColorRGBA color_noneighbors;
color_noneighbors.r = .5; color_noneighbors.g = 0; color_noneighbors.b = 1; color_noneighbors.a = .8;
// Vector of Inconsistencies Initialization
std::vector<ClassBoundingBox> vi;
std::vector<ClassBoundingBox> vi_missing;
// Creates the target volume message array
ma.markers.push_back(target_volume.getMarkerWithEdges("target_volume", octree_frame_id , color_target_volume, ++id));
ROS_INFO_STREAM("Starting Iteration");
// Iterates over each region
for (size_t i=0; i < boxes.size(); ++i)
{
size_t num_occupied = 0;
size_t num_neighbors = 0;
// Iterates over target Octree
for(OcTree::leaf_bbx_iterator it = octree_target->begin_leafs_bbx(boxes[i].getMinimumPoint(), boxes[i].getMaximumPoint(), depth), end=octree_target->end_leafs_bbx(); it!= end; ++it)
{
// Verifies if the node exists
if (octree_target->search(it.getKey()))
{
num_neighbors++;
// Verifies if the node is free
if (!octree_target->isNodeOccupied(*it))
{
// Do nothing
}
else
{
num_occupied++;
}
}
}
double occupation_ratio=0;
// Occupation Ratio computation
if (num_neighbors !=0)
{
occupation_ratio = (double)num_occupied/(double)num_neighbors;
}
// Checks for Inconsistencies of type EXCEEDING
if (boxes[i].occupied == false && occupation_ratio >= exceeding_threshold_with_regions && num_neighbors !=0)
{
// Add the inconsistency cell into a vector
vi.push_back(boxes[i]);
}
// Checks for Inconsistencies of type MISSING
if (boxes[i].occupied == true && occupation_ratio <= missing_threshold_with_regions && num_neighbors !=0) //If no occupied cell was found out of all iterated in the model's bbox, then an inconsistency is detected
{
// Add the inconsistency cell into a vector
vi_missing.push_back(boxes[i]);
}
}
//Cluster the EXCEEDING cells
vector< vector<size_t> > cluster;
clusterBoundingBoxes(vi, cluster);
ROS_INFO("There are %ld clusters", cluster.size());
class_colormap cluster_colors("autumn", cluster.size(), 0.8);
// Cluster the MISSING cells
vector< vector<size_t> > cluster_missing;
clusterBoundingBoxes(vi_missing, cluster_missing);
ROS_INFO("There are %ld clusters_missing", cluster_missing.size());
class_colormap cluster_missing_colors("summer", cluster_missing.size(), 0.8);
//Select only EXCEEDING clusters above a given volume threshold
vector< vector<size_t> > selected_cluster;
filterClustersByVolume(vi, cluster, selected_cluster, volume_threshold);
ROS_INFO("Selected %ld clusters using volume threshold", selected_cluster.size());
//Select only MISSING clusters above a given volume threshold
vector< vector<size_t> > selected_cluster_missing;
filterClustersByVolume(vi_missing, cluster_missing, selected_cluster_missing, volume_threshold);
ROS_INFO("Selected %ld clusters_missing using volume threshold", selected_cluster_missing.size());
//Draw filtered inconsistencies clusters in RVIZ
class_colormap inconsistencies_colors(0.5,0,0,0.4);
clustersToMarkerArray(vi, selected_cluster, ma_inconsistencies, id_inconsistencies, octree_frame_id, "inconsistencies", inconsistencies_colors);
class_colormap inconsistencies_missing_colors(0,0.5,0,0.4);
clustersToMarkerArray(vi_missing, selected_cluster_missing, ma_inconsistencies, id_inconsistencies, octree_frame_id, "inconsistencies", inconsistencies_missing_colors);
// Draw all the clusters in RVIZ
size_t id_clusters=0;
clustersToMarkerArray(vi, selected_cluster, ma_clusters, id_clusters, octree_frame_id, "clusters", cluster_colors);
clustersToMarkerArray(vi_missing, selected_cluster_missing, ma_clusters, id_clusters, octree_frame_id, "clusters", cluster_missing_colors);
// Draw the Center of Mass Sphere and Volume Information
visualization_msgs::MarkerArray ma_centerofmass;
visualization_msgs::MarkerArray ma_volumeText;
size_t id_ma_centerofmass = 0;
centerOfMass(vi, selected_cluster, ma_centerofmass, ma_volumeText, id_ma_centerofmass, octree_frame_id);
centerOfMass(vi_missing, selected_cluster_missing, ma_centerofmass, ma_volumeText, id_ma_centerofmass, octree_frame_id);
// Publish the Marker Arrays
marker_pub_inconsistencies->publish(ma_inconsistencies);
marker_pub_clusters->publish(ma_clusters);
marker_pub->publish(ma);
marker_pub_center_of_mass->publish(ma_centerofmass);
marker_pub_volume->publish(ma_volumeText);
// Paint the Point Cloud (if available) with the Inconsistencies information.
if (!flg_received_point_cloud)
{
ROS_ERROR_STREAM("No point_cloud2 has been received yet");
}
else
{
ROS_INFO("Processing point cloud ...");
*pc = *pcin;
pcl_ros::transformPointCloud(octree_frame_id, *pc, *pc, *listener);
*pc2 = *pc;
pc2->points.erase(pc2->points.begin(), pc2->points.end());
for (size_t k = 0; k < selected_cluster.size(); ++k)
{
std::vector<size_t> lpoints;
for (size_t l = 0; l < selected_cluster[k].size(); ++l)
{
size_t idx = selected_cluster[k][l];
std::vector<size_t> ltmp;
ltmp = vi[idx].pointsInPointCloud(pc);
lpoints.insert(lpoints.end(), ltmp.begin(), ltmp.end());
}
// Change color of points to cluster color
for (size_t i=0; i< lpoints.size(); ++i)
{
cv::Scalar c = cluster_colors.cv_color(k);
int8_t r = c[2], g = c[1], b = c[0];
uint32_t rgb = ((uint32_t)r << 16 | (uint32_t)g << 8 | (uint32_t)b);
pc->points[lpoints[i]].rgb = *reinterpret_cast<float*>(&rgb);;
pc2->points.push_back(pc->points[lpoints[i]]);
}
}
pc2->is_dense = false;
pc2->width = pc2->points.size();
pc2->height = 1;
sensor_msgs::PointCloud2 pcmsgout;
pcl::toROSMsg(*pc2, pcmsgout);
pub_pointcloud->publish(pcmsgout);
}
ros::Duration d = (ros::Time::now() - t);
ROS_INFO("Comparisson took %f secs", d.toSec());
}