int main(int argc, char** argv) {
// default values:
string vrmlFilename = "";
string btFilename = "";
if (argc != 2 || (argc > 1 && strcmp(argv[1], "-h") == 0)){
printUsage(argv[0]);
}
btFilename = std::string(argv[1]);
vrmlFilename = btFilename + ".wrl";
cout << "\nReading OcTree file\n===========================\n";
// TODO: check if file exists and if OcTree read correctly?
OcTree* tree = new OcTree(btFilename);
cout << "\nWriting occupied volumes to VRML\n===========================\n";
std::ofstream outfile (vrmlFilename.c_str());
outfile << "#VRML V2.0 utf8\n#\n";
outfile << "# created from OctoMap file "<<btFilename<< " with bt2vrml\n";
size_t count(0);
for(OcTree::leaf_iterator it = tree->begin(), end=tree->end(); it!= end; ++it) {
if(tree->isNodeOccupied(*it)){
count++;
double size = it.getSize();
outfile << "Transform { translation "
<< it.getX() << " " << it.getY() << " " << it.getZ()
<< " \n children ["
<< " Shape { geometry Box { size "
<< size << " " << size << " " << size << "} } ]\n"
<< "}\n";
}
}
delete tree;
outfile.close();
std::cout << "Finished writing "<< count << " voxels to " << vrmlFilename << std::endl;
return 0;
}
//float xx[70000], yy[70000], zz[70000];
void findProbabilityOfCones3D(Frustum frustum[], int num_poses3D)
{
OcTree* input_tree = retrieve_octree(); //new OcTree(map)
int free = 0;
int occupied = 0;
std::cerr<<"Inside findProbabilityOfCones3D"<< std::endl;
for(OcTree::leaf_iterator it = input_tree->begin_leafs(),
end=input_tree->end_leafs(); it!= end; ++it)
{
if (input_tree->isNodeOccupied(*it))
{
double size = it.getSize();
double x = it.getX();
double y = it.getY();
double z = it.getZ();
//point3d p = it.getCoordinate();
//xx[occupied] = p.x;
//yy[occupied] = p.y;
//zz[occupied] = p.z;
occupied++;
//std::cerr<<"X: "<< x<< std::endl;
//std::cerr<<"Y: "<< y<< std::endl;
//std::cerr<<"Z: "<< z<< std::endl;
for (int i = 0; i < num_poses3D; i++)
{
if (checkInsideCone3D(x, y, z, frustum[i]))
{
frustum[i].probability += 1 + (QSR_WEIGHT * (normal_dist_2d(x, y , QSR_MEAN_1 , QSR_VAR_1 , QSR_MEAN_2 , QSR_VAR_2)));
}
}
}
else
{
free++;
}
}
std::cerr<<"occupied "<< occupied<< std::endl;
std::cerr<<"free "<< free<< std::endl;
}
int compute_value(Frustum frustum, std::vector<unsigned short int> &keys, std::vector<int> &node_values)
{
int value = 0;
int free = 0;
int occupied = 0;
int WEIGHT = 1; // compute weight from QSR model
if (input_tree == NULL)
return 0;
for(OcTree::leaf_iterator it = input_tree->begin_leafs(),
end=input_tree->end_leafs(); it!= end; ++it)
{
if (input_tree->isNodeOccupied(*it))
{
int size = (int) (it.getSize() / input_tree->getResolution());
//ROS_INFO("Size %f", size);
double x = it.getX();
double y = it.getY();
double z = it.getZ();
//std::cerr<< "xyz:" << x << "," << y << "," << z << " hash:" << hash << std::endl;
occupied++;
Vec3 point(x, y, z);
if (frustum.is_inside(point))
{
//ROS_INFO("Node inside frustum");
int node_value = WEIGHT * size;
const OcTreeKey key = it.getKey();
OcTreeKey::KeyHash computeHash;
unsigned short int hash = computeHash(key);
keys.push_back(hash);
node_values.push_back(node_value);
value += node_value;
}
}
else
{
free++;
}
}
//std::cerr<<"occupied "<< occupied<< std::endl;
//std::cerr<<"free "<< free<< std::endl;
return value;
}
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(15.0));
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);
NBVList.push_back(origin);
cout << "Starting Pose: " << tempYaw << " : " << tempPitch << endl;
visualization_msgs::Marker mark;
mark.header.frame_id = "vicon";
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, tempPitch, tempYaw);
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;
mapReceived = false;
startAlg = false;
while ((!mapReceived || !startAlg) && ros::ok())
{
mark_pub.publish(views);
ros::spinOnce();
rate.sleep();
}
//AbstractOcTree
OcTree* treeTemp = binaryMsgToMap(mapMsg);
//OcTree treeTemp(0.01);
treeTemp->writeBinary("firstMap.bt");
cout << "Loaded the Map" << endl;
sleep(2);
try{
gTime = ros::Time::now();
listener.waitForTransform("vicon", "xtion", gTime, ros::Duration(15.0));
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;
point3d camPosition(0,0,0);
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++)
{
bool flag = false;
for (vector<point3d>::iterator nbvIt = NBVList.begin(); nbvIt != NBVList.end(); nbvIt++)
{
if (iter.getCoordinate().distanceXY(*nbvIt) < 0.6)
{
flag = true;
}
}
if (tree.isNodeOccupied(*iter)) // && (iter.getZ() < 0.03 || iter.getX() < -2 || iter.getX() > 1 || iter.getY() < -1 || iter.getY() > 1) || flag)
{
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 = 0.52;
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());
vector<int> freeMap(rangeX * rangeY, 0);
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;
tree.expand();
for (OcTree::leaf_iterator iter = tree.begin_leafs(); iter != tree.end_leafs(); iter++)
{
/*if (!tree.isNodeOccupied(*iter) && iter.getZ() > 0)
{
int index = int((iter.getCoordinate().y() - minY) / res) * rangeX + (iter.getCoordinate().x() - minX) / res;
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 = (gridMap[index].coords.x() + offX - minX) * rFactor;
int yInd = (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;
}
}
}
}
}*/
if (!tree.isNodeOccupied(*iter) && iter.getZ() > 0 && iter.getZ() <= 0.5)
{
int index = round((iter.getCoordinate().y() - minY) / res) * rangeX + round((iter.getCoordinate().x() - minX) / res);
freeMap[index]++;
}
}
for (int index = 0; index < rangeX * rangeY; index++)
{
if (freeMap[index] < 20 && gridMap[index].coords.distanceXY(firstPos) > 0.8 && gridMap[index].coords.distanceXY(camPosition) > 0.2)
{
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;
if (gridMap[offIdx].coords.distanceXY(firstPos) > 0.4 && gridMap[offIdx].coords.distanceXY(camPosition) > 0.3)
{
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 = "vicon";
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 = "vicon";
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 = "vicon";
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;
}
void execute(const fremen::informationGoalConstPtr& goal, Server* as)
{
/* Octmap Estimation and Visualization */
octomap_msgs::Octomap bmap_msg;
OcTree octree (resolution);
geometry_msgs::Point initialPt, finalPt;
//Create pointcloud:
octomap::Pointcloud octoCloud;
sensor_msgs::PointCloud fremenCloud;
float x = 0*gridPtr->positionX;
float y = 0*gridPtr->positionY;
geometry_msgs::Point32 test_point;
int cnt = 0;
int cell_x, cell_y, cell_z;
cell_x = (int)(goal->x/resolution);
cell_y = (int)(goal->y/resolution);
cell_z = (int)(head_height/resolution);
for(double i = LIM_MIN_X; i < LIM_MAX_X; i+=resolution){
for(double j = LIM_MIN_Y; j < LIM_MAX_Y; j+=resolution){
for(double w = LIM_MIN_Z; w < LIM_MAX_Z; w+=resolution){
point3d ptt(x+i+resolution/2,y+j+resolution/2,w+resolution/2);
int s = goal->stamp;
if(gridPtr->retrieve(cnt, goal->stamp)>0)
{
//finalPt.z = (int)((w+resolution/2)/resolution)-cell_z;
//finalPt.y = (int)((j+resolution/2)/resolution)-cell_y;
//finalPt.x = (int)((i+resolution/2)/resolution)-cell_x;
//int cnta = ((cell_x+finalPt.x-LIM_MIN_X/resolution)*dim_y + (finalPt.y + cell_y-LIM_MIN_Y/resolution))*dim_z + (finalPt.z + cell_z-LIM_MIN_Z/resolution);
//ROS_INFO("something %d %d",cnt,cnta);
octoCloud.push_back(x+i+resolution/2,y+j+resolution/2,w+resolution/2);
octree.updateNode(ptt,true,true);
}
cnt++;
}
}
}
//Update grid
octree.updateInnerOccupancy();
//init visualization markers:
visualization_msgs::MarkerArray occupiedNodesVis;
unsigned int m_treeDepth = octree.getTreeDepth();
//each array stores all cubes of a different size, one for each depth level:
occupiedNodesVis.markers.resize(m_treeDepth + 1);
geometry_msgs::Point cubeCenter;
std_msgs::ColorRGBA m_color;
m_color.r = 0.0;
m_color.g = 0.0;
m_color.b = 1.0;
m_color.a = 0.5;
for (unsigned i = 0; i < occupiedNodesVis.markers.size(); ++i)
{
double size = octree.getNodeSize(i);
occupiedNodesVis.markers[i].header.frame_id = "/map";
occupiedNodesVis.markers[i].header.stamp = ros::Time::now();
occupiedNodesVis.markers[i].ns = "map";
occupiedNodesVis.markers[i].id = i;
occupiedNodesVis.markers[i].type = visualization_msgs::Marker::CUBE_LIST;
occupiedNodesVis.markers[i].scale.x = size;
occupiedNodesVis.markers[i].scale.y = size;
occupiedNodesVis.markers[i].scale.z = size;
occupiedNodesVis.markers[i].color = m_color;
}
ROS_INFO("s %i",cnt++);
x = gridPtr->positionX;
y = gridPtr->positionY;
for(OcTree::leaf_iterator it = octree.begin_leafs(), end = octree.end_leafs(); it != end; ++it)
{
if(it != NULL && octree.isNodeOccupied(*it))
{
unsigned idx = it.getDepth();
cubeCenter.x = x+it.getX();
cubeCenter.y = y+it.getY();
cubeCenter.z = it.getZ();
occupiedNodesVis.markers[idx].points.push_back(cubeCenter);
double minX, minY, minZ, maxX, maxY, maxZ;
octree.getMetricMin(minX, minY, minZ);
octree.getMetricMax(maxX, maxY, maxZ);
double h = (1.0 - fmin(fmax((cubeCenter.z - minZ) / (maxZ - minZ), 0.0), 1.0)) * m_colorFactor;
occupiedNodesVis.markers[idx].colors.push_back(heightMapColorA(h));
}
}
/**** Robot Head Marker ****/
//Robot Position
visualization_msgs::Marker marker_head;
marker_head.header.frame_id = "/map";
marker_head.header.stamp = ros::Time();
marker_head.ns = "my_namespace";
marker_head.id = 1;
marker_head.type = visualization_msgs::Marker::SPHERE;
marker_head.action = visualization_msgs::Marker::ADD;
marker_head.pose.position.x = goal->x;
marker_head.pose.position.y = goal->y;
marker_head.pose.position.z = head_height;
marker_head.pose.orientation.x = 0.0;
marker_head.pose.orientation.y = 0.0;
marker_head.pose.orientation.z = 0.0;
marker_head.pose.orientation.w = 1.0;
marker_head.scale.x = 0.2;
marker_head.scale.y = 0.2;
marker_head.scale.z = 0.2;
marker_head.color.a = 1.0;
marker_head.color.r = 0.0;
marker_head.color.g = 1.0;
marker_head.color.b = 0.0;
/****** Ray Traversal ******/
//ROS_INFO("Robot Position (%f,%f,%f) = (%d,%d,%d)", goal->x, goal->y, head_height, cell_x, cell_y, cell_z);
//Ray Casting (Grid Traversal - Digital Differential Analyzer)
visualization_msgs::Marker marker_rays;
marker_rays.header.frame_id = "/map";
marker_rays.header.stamp = ros::Time();
marker_rays.ns = "my_namespace";
marker_rays.id = 2;
marker_rays.type = visualization_msgs::Marker::LINE_LIST;
marker_rays.action = visualization_msgs::Marker::ADD;
marker_rays.scale.x = 0.01;
geometry_msgs::Vector3 rayDirection, deltaT, cellIndex;
std_msgs::ColorRGBA line_color;
initialPt.x = goal->x;
initialPt.y = goal->y;
initialPt.z = head_height;
line_color.a = 0.2;
line_color.r = 0.0;
line_color.g = 0.0;
line_color.b = 1.0;
float delta, H;
bool free_cell;
ROS_INFO("Performing Ray Casting...");
H = 0;
int gridsize = dim_x*dim_y*dim_z;
for(float ang_v = -0.174; ang_v < 0.174; ang_v+=angular_step){
for(float ang_h = 0; ang_h < 2*M_PI; ang_h+= angular_step){ //0 - 360 degrees
//Initial conditions:
rayDirection.z = sin(ang_v);//z
rayDirection.x = cos(ang_v) * cos(ang_h);//x
rayDirection.y = cos(ang_v) * sin(ang_h);//y
delta = fmax(fmax(fabs(rayDirection.x), fabs(rayDirection.y)), fabs(rayDirection.z));
deltaT.x = rayDirection.x/delta;
deltaT.y = rayDirection.y/delta;
deltaT.z = rayDirection.z/delta;
free_cell = true;
int max_it = RANGE_MAX/resolution * 2/sqrt(pow(deltaT.x,2) + pow(deltaT.y,2) + pow(deltaT.z,2));
// ROS_INFO("Max_it: %d %d %d", cell_x,cell_y,cell_z);
finalPt.x = 0;
finalPt.y = 0;
finalPt.z = 0;
for(int i = 0; i < max_it && free_cell; i++){
finalPt.x += deltaT.x/2;
finalPt.y += deltaT.y/2;
finalPt.z += deltaT.z/2;
//cnt?
int cnt = ((int)((cell_x+finalPt.x-LIM_MIN_X/resolution))*dim_y + (int)(finalPt.y + cell_y-LIM_MIN_Y/resolution))*dim_z + (int)(finalPt.z + cell_z-LIM_MIN_Z/resolution);//get fremen grid index!
//TODO
if (cnt < 0){
cnt = 0;
free_cell = false;
}
if (cnt > gridsize-1){
cnt = gridsize-1;
free_cell = false;
}
//ROS_INFO("CNT: %d %d", cnt,gridsize);
//ROS_INFO("DIM %d %d", dim_x, dim_z);
if(gridPtr->retrieve(cnt, goal->stamp) > 0) free_cell = false;
if(aux_entropy[cnt] ==0){
aux_entropy[cnt] = 1;
//float p = gridPtr->estimate(cnt,goal->stamp);
//h+=-p*ln(p);
H++;
}
}
marker_rays.points.push_back(initialPt);
marker_rays.colors.push_back(line_color);
finalPt.x = finalPt.x*resolution+initialPt.x;
finalPt.y = finalPt.y*resolution+initialPt.y;
finalPt.z = finalPt.z*resolution+initialPt.z;
marker_rays.points.push_back(finalPt);
marker_rays.colors.push_back(line_color);
}
}
//Entropy (text marker):
visualization_msgs::Marker marker_text;
marker_text.header.frame_id = "/map";
marker_text.header.stamp = ros::Time();
marker_text.ns = "my_namespace";
marker_text.id = 1;
marker_text.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
marker_text.action = visualization_msgs::Marker::ADD;
marker_text.pose.position.x = goal->x;
marker_text.pose.position.y = goal->y;
marker_text.pose.position.z = head_height + 2;
marker_text.pose.orientation.x = 0.0;
marker_text.pose.orientation.y = 0.0;
marker_text.pose.orientation.z = 0.0;
marker_text.pose.orientation.w = 1.0;
marker_text.scale.z = 0.5;
marker_text.color.a = 1.0;
marker_text.color.r = 0.0;
marker_text.color.g = 1.0;
marker_text.color.b = 0.0;
char output[1000];
sprintf(output,"Gain: %f",H);
marker_text.text = output;
//Publish Results:
ROS_INFO("Data published!");
head_pub_ptr->publish(marker_head);
estimate_pub_ptr->publish(occupiedNodesVis);
rays_pub_ptr->publish(marker_rays);
text_pub_ptr->publish(marker_text);
as->setSucceeded();
}