OcTree* generateSphereTree(point3d origin, float radius){
OcTree* tree = new OcTree(0.05);
point3d point_on_surface = origin;
point_on_surface.x() += radius;
for (int i=0; i<360; i++) {
for (int j=0; j<360; j++) {
if (!tree->insertRay(origin, origin+point_on_surface)) {
cout << "ERROR while inserting ray from " << origin << " to " << point_on_surface << endl;
}
point_on_surface.rotate_IP (0,0,DEG2RAD(1.));
}
point_on_surface.rotate_IP (0,DEG2RAD(1.),0);
}
return tree;
}
int main(int argc, char** argv) {
//##############################################################
OcTree tree (0.05);
tree.enableChangeDetection(true);
point3d origin (0.01f, 0.01f, 0.02f);
point3d point_on_surface (4.01f,0.01f,0.01f);
tree.insertRay(origin, point_on_surface);
printChanges(tree);
tree.updateNode(point3d(2.01f, 0.01f, 0.01f), 2.0f);
printChanges(tree);
tree.updateNode(point3d(2.01f, 0.01f, 0.01f), -2.0f);
printChanges(tree);
cout << "generating spherical scan at " << origin << " ..." << endl;
for (int i=-100; i<101; i++) {
Pointcloud cloud;
for (int j=-100; j<101; j++) {
point3d rotated = point_on_surface;
rotated.rotate_IP(0, DEG2RAD(i*0.5), DEG2RAD(j*0.5));
cloud.push_back(rotated);
}
// insert in global coordinates:
tree.insertPointCloud(cloud, origin, -1);
}
printChanges(tree);
cout << "done." << endl;
return 0;
}
int main(int argc, char** argv) {
//##############################################################
OcTree tree (0.05);
// point3d origin (10.01, 10.01, 10.02);
point3d origin (0.01f, 0.01f, 0.02f);
point3d point_on_surface (2.01f, 0.01f, 0.01f);
cout << "generating sphere at " << origin << " ..." << endl;
for (int i=0; i<360; i++) {
for (int j=0; j<360; j++) {
if (!tree.insertRay(origin, origin+point_on_surface)) {
cout << "ERROR while inserting ray from " << origin << " to " << point_on_surface << endl;
}
point_on_surface.rotate_IP (0,0,DEG2RAD(1.));
}
point_on_surface.rotate_IP (0,DEG2RAD(1.),0);
}
cout << "done." << endl;
cout << "writing to sphere.bt..." << endl;
tree.writeBinary("sphere.bt");
// -----------------------------------------------
cout << "casting rays ..." << endl;
OcTree sampled_surface (0.05);
point3d direction = point3d (1.0,0.0,0.0);
point3d obstacle(0,0,0);
unsigned int hit (0);
unsigned int miss (0);
double mean_dist(0);
for (int i=0; i<360; i++) {
for (int j=0; j<360; j++) {
if (!tree.castRay(origin, direction, obstacle, true, 3.)) {
miss++;
}
else {
hit++;
mean_dist += (obstacle - origin).norm();
sampled_surface.updateNode(obstacle, true);
}
direction.rotate_IP (0,0,DEG2RAD(1.));
}
direction.rotate_IP (0,DEG2RAD(1.),0);
}
cout << "done." << endl;
mean_dist /= (double) hit;
std::cout << " hits / misses: " << hit << " / " << miss << std::endl;
std::cout << " mean obstacle dist: " << mean_dist << std::endl;
cout << "writing sampled_surface.bt" << endl;
sampled_surface.writeBinary("sampled_surface.bt");
// -----------------------------------------------
cout << "generating single rays..." << endl;
OcTree single_beams(0.03333);
int num_beams = 17;
float beamLength = 10.0f;
point3d single_origin (1.0f, 0.45f, 0.45f);
point3d single_endpoint(beamLength, 0.0f, 0.0f);
for (int i=0; i<num_beams; i++) {
if (!single_beams.insertRay(single_origin, single_origin+single_endpoint)) {
cout << "ERROR while inserting ray from " << single_origin << " to " << single_endpoint << endl;
}
single_endpoint.rotate_IP (0,0,DEG2RAD(360.0/num_beams));
}
cout << "done." << endl;
cout << "writing to beams.bt..." << endl;
single_beams.writeBinary("beams.bt");
return 0;
}
int main(int argc, char** argv) {
if (argc != 2){
std::cerr << "Error: you need to specify a test as argument" << std::endl;
return 1; // exit 1 means failure
}
std::string test_name (argv[1]);
// ------------------------------------------------------------
if (test_name == "MathVector") {
// test constructors
Vector3* twos = new Vector3();
Vector3* ones = new Vector3(1,1,1);
for (int i=0;i<3;i++) {
(*twos)(i) = 2;
}
// test basic operations
Vector3 subtraction = *twos - *ones;
Vector3 addition = *twos + *ones;
Vector3 multiplication = *twos * 2.;
for (int i=0;i<3;i++) {
EXPECT_FLOAT_EQ (subtraction(i), 1.);
EXPECT_FLOAT_EQ (addition(i), 3.);
EXPECT_FLOAT_EQ (multiplication(i), 4.);
}
// copy constructor
Vector3 rotation = *ones;
// rotation
rotation.rotate_IP (M_PI, 1., 0.1);
EXPECT_FLOAT_EQ (rotation.x(), 1.2750367);
EXPECT_FLOAT_EQ (rotation.y(), (-1.1329513));
EXPECT_FLOAT_EQ (rotation.z(), 0.30116868);
// ------------------------------------------------------------
} else if (test_name == "MathPose") {
// constructors
Pose6D a (1.0f, 0.1f, 0.1f, 0.0f, 0.1f, (float) M_PI/4. );
Pose6D b;
Vector3 trans(1.0f, 0.1f, 0.1f);
Quaternion rot(0.0f, 0.1f, (float) M_PI/4.);
Pose6D c(trans, rot);
// comparator
EXPECT_TRUE ( a == c);
// toEuler
EXPECT_FLOAT_EQ (c.yaw() , M_PI/4.);
// transform
Vector3 t = c.transform (trans);
EXPECT_FLOAT_EQ (t.x() , 1.6399229);
EXPECT_FLOAT_EQ (t.y() , 0.8813442);
EXPECT_FLOAT_EQ (t.z() , 0.099667005);
// inverse transform
Pose6D c_inv = c.inv();
Vector3 t2 = c_inv.transform (t);
EXPECT_FLOAT_EQ (t2.x() , trans.x());
EXPECT_FLOAT_EQ (t2.y() , trans.y());
EXPECT_FLOAT_EQ (t2.z() , trans.z());
// ------------------------------------------------------------
} else if (test_name == "InsertRay") {
double p = 0.5;
EXPECT_FLOAT_EQ(p, probability(logodds(p)));
p = 0.1;
EXPECT_FLOAT_EQ(p, probability(logodds(p)));
p = 0.99;
EXPECT_FLOAT_EQ(p, probability(logodds(p)));
float l = 0;
EXPECT_FLOAT_EQ(l, logodds(probability(l)));
l = -4;
EXPECT_FLOAT_EQ(l, logodds(probability(l)));
l = 2;
EXPECT_FLOAT_EQ(l, logodds(probability(l)));
OcTree tree (0.05);
tree.setProbHit(0.7);
tree.setProbMiss(0.4);
point3d origin (0.01f, 0.01f, 0.02f);
point3d point_on_surface (2.01f,0.01f,0.01f);
for (int i=0; i<360; i++) {
for (int j=0; j<360; j++) {
EXPECT_TRUE (tree.insertRay(origin, origin+point_on_surface));
point_on_surface.rotate_IP (0,0,DEG2RAD(1.));
}
point_on_surface.rotate_IP (0,DEG2RAD(1.),0);
}
EXPECT_TRUE (tree.writeBinary("sphere_rays.bt"));
EXPECT_EQ ((int) tree.size(), 50615);
// ------------------------------------------------------------
// ray casting is now in "test_raycasting.cpp"
// ------------------------------------------------------------
// insert scan test
// insert graph node test
// write graph test
} else if (test_name == "InsertScan") {
Pointcloud* measurement = new Pointcloud();
point3d origin (0.01f, 0.01f, 0.02f);
point3d point_on_surface (2.01f, 0.01f, 0.01f);
for (int i=0; i<360; i++) {
for (int j=0; j<360; j++) {
point3d p = origin+point_on_surface;
measurement->push_back(p);
point_on_surface.rotate_IP (0,0,DEG2RAD(1.));
}
point_on_surface.rotate_IP (0,DEG2RAD(1.),0);
}
OcTree tree (0.05);
tree.insertPointCloud(*measurement, origin);
EXPECT_EQ (tree.size(), 53959);
ScanGraph* graph = new ScanGraph();
Pose6D node_pose (origin.x(), origin.y(), origin.z(),0.0f,0.0f,0.0f);
graph->addNode(measurement, node_pose);
EXPECT_TRUE (graph->writeBinary("test.graph"));
delete graph;
// ------------------------------------------------------------
// graph read file test
} else if (test_name == "ReadGraph") {
// not really meaningful, see better test in "test_scans.cpp"
ScanGraph graph;
EXPECT_TRUE (graph.readBinary("test.graph"));
// ------------------------------------------------------------
} else if (test_name == "StampedTree") {
OcTreeStamped stamped_tree (0.05);
// fill tree
for (int x=-20; x<20; x++)
for (int y=-20; y<20; y++)
for (int z=-20; z<20; z++) {
point3d p ((float) x*0.05f+0.01f, (float) y*0.05f+0.01f, (float) z*0.05f+0.01f);
stamped_tree.updateNode(p, true); // integrate 'occupied' measurement
}
// test if update times set
point3d query (0.1f, 0.1f, 0.1f);
OcTreeNodeStamped* result = stamped_tree.search (query);
EXPECT_TRUE (result);
unsigned int tree_time = stamped_tree.getLastUpdateTime();
unsigned int node_time = result->getTimestamp();
std::cout << "After 1st update (cube): Tree time " <<tree_time << "; node(0.1, 0.1, 0.1) time " << result->getTimestamp() << std::endl;
EXPECT_TRUE (tree_time > 0);
#ifdef _WIN32
Sleep(1000);
#else
sleep(1);
#endif
stamped_tree.integrateMissNoTime(result); // reduce occupancy, no time update
std::cout << "After 2nd update (single miss): Tree time " <<tree_time << "; node(0.1, 0.1, 0.1) time " << node_time << std::endl;
EXPECT_EQ (node_time, result->getTimestamp()); // node time updated?
point3d query2 = point3d (0.1f, 0.1f, 0.3f);
stamped_tree.updateNode(query2, true); // integrate 'occupied' measurement
OcTreeNodeStamped* result2 = stamped_tree.search (query2);
EXPECT_TRUE (result2);
result = stamped_tree.search (query);
EXPECT_TRUE (result);
std::cout << "After 3rd update (single hit at (0.1, 0.1, 0.3): Tree time " << stamped_tree.getLastUpdateTime() << "; node(0.1, 0.1, 0.1) time " << result->getTimestamp()
<< "; node(0.1, 0.1, 0.3) time " << result2->getTimestamp() << std::endl;
EXPECT_TRUE (result->getTimestamp() < result2->getTimestamp()); // result2 has been updated
EXPECT_EQ(result2->getTimestamp(), stamped_tree.getLastUpdateTime());
// ------------------------------------------------------------
} else if (test_name == "OcTreeKey") {
OcTree tree (0.05);
point3d p(0.0,0.0,0.0);
OcTreeKey key;
tree.coordToKeyChecked(p, key);
point3d p_inv = tree.keyToCoord(key);
EXPECT_FLOAT_EQ (0.025, p_inv.x());
EXPECT_FLOAT_EQ (0.025, p_inv.y());
EXPECT_FLOAT_EQ (0.025, p_inv.z());
// ------------------------------------------------------------
} else {
std::cerr << "Invalid test name specified: " << test_name << std::endl;
return 1;
}
std::cerr << "Test successful.\n";
return 0;
}
