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) {
// 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);
}