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);
}
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;
}
int main(int argc, char** argv) {
string inputFilename = "";
string outputFilename = "";
if (argc < 2 || argc > 3 || (argc > 1 && strcmp(argv[1], "-h") == 0)){
printUsage(argv[0]);
}
inputFilename = std::string(argv[1]);
if (argc == 3)
outputFilename = std::string(argv[2]);
else{
outputFilename = inputFilename + ".ot";
}
cout << "\nReading OcTree file\n===========================\n";
std::ifstream file(inputFilename.c_str(), std::ios_base::in |std::ios_base::binary);
if (!file.is_open()){
OCTOMAP_ERROR_STR("Filestream to "<< inputFilename << " not open, nothing read.");
exit(-1);
}
std::istream::pos_type streampos = file.tellg();
AbstractOcTree* tree;
// reading binary:
if (inputFilename.length() > 3 && (inputFilename.compare(inputFilename.length()-3, 3, ".bt") == 0)){
OcTree* binaryTree = new OcTree(0.1);
if (binaryTree->readBinary(file) && binaryTree->size() > 1)
tree = binaryTree;
else {
OCTOMAP_ERROR_STR("Could not detect binary OcTree format in file.");
exit(-1);
}
} else {
tree = AbstractOcTree::read(file);
if (!tree){
OCTOMAP_WARNING_STR("Could not detect OcTree in file, trying legacy formats.");
// TODO: check if .cot extension, try old format only then
// reset and try old ColorOcTree format:
file.clear(); // clear eofbit of istream
file.seekg(streampos);
ColorOcTree* colorTree = new ColorOcTree(0.1);
colorTree->readData(file);
if (colorTree->size() > 1 && file.good()){
OCTOMAP_WARNING_STR("Detected Binary ColorOcTree to convert. \nPlease check and update the new file header (resolution will likely be wrong).");
tree = colorTree;
} else{
delete colorTree;
std::cerr << "Error reading from file " << inputFilename << std::endl;
exit(-1);
}
}
}
// close filestream
file.close();
if (outputFilename.length() > 3 && (outputFilename.compare(outputFilename.length()-3, 3, ".bt") == 0)){
std::cerr << "Writing binary (BonsaiTree) file" << std::endl;
AbstractOccupancyOcTree* octree = dynamic_cast<AbstractOccupancyOcTree*>(tree);
if (octree){
if (!octree->writeBinary(outputFilename)){
std::cerr << "Error writing to " << outputFilename << std::endl;
exit(-2);
}
} else {
std::cerr << "Error: Writing to .bt is not supported for this tree type: " << tree->getTreeType() << std::endl;
exit(-2);
}
} else{
std::cerr << "Writing general OcTree file" << std::endl;
if (!tree->write(outputFilename)){
std::cerr << "Error writing to " << outputFilename << std::endl;
exit(-2);
}
}
std::cout << "Finished writing to " << outputFilename << std::endl;
exit(0);
}