ColorOcTreeNode* ColorOcTree::setNodeColor(const OcTreeKey& key,
const unsigned char& r,
const unsigned char& g,
const unsigned char& b) {
ColorOcTreeNode* n = search (key);
if (n != 0) {
n->setColor(r, g, b);
}
return n;
}
ColorOcTreeNode* ColorOcTree::averageNodeColor(const OcTreeKey& key,
const unsigned char& r,
const unsigned char& g,
const unsigned char& b) {
ColorOcTreeNode* n = search (key);
if (n != 0) {
if (n->isColorSet()) {
ColorOcTreeNode::Color prev_color = n->getColor();
n->setColor((prev_color.r + r)/2, (prev_color.g + g)/2, (prev_color.b + b)/2);
}
else {
n->setColor(r, g, b);
}
}
return n;
}
ColorOcTreeNode* ColorOcTree::integrateNodeColor(const OcTreeKey& key,
const unsigned char& r,
const unsigned char& g,
const unsigned char& b) {
ColorOcTreeNode* n = search (key);
if (n != 0) {
if (n->isColorSet()) {
ColorOcTreeNode::Color prev_color = n->getColor();
double node_prob = n->getOccupancy();
unsigned char new_r = (unsigned char) ((double) prev_color.r * node_prob
+ (double) r * (0.99-node_prob));
unsigned char new_g = (unsigned char) ((double) prev_color.g * node_prob
+ (double) g * (0.99-node_prob));
unsigned char new_b = (unsigned char) ((double) prev_color.b * node_prob
+ (double) b * (0.99-node_prob));
n->setColor(new_r, new_g, new_b);
}
else {
n->setColor(r, g, b);
}
}
return n;
}
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;
}