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;
}
void printChanges(OcTree& tree){
unsigned int changedOccupied = 0;
unsigned int changedFree = 0;
unsigned int actualOccupied = 0;
unsigned int actualFree = 0;
unsigned int missingChanged = 0;
tree.expand();
// iterate through the changed nodes
KeyBoolMap::const_iterator it;
for (it=tree.changedKeysBegin(); it!=tree.changedKeysEnd(); it++) {
OcTreeNode* node = tree.search(it->first);
if (node != NULL) {
if (tree.isNodeOccupied(node)) {
changedOccupied += 1;
}
else {
changedFree += 1;
}
} else {
missingChanged +=1;
}
}
// iterate through the entire tree
for(OcTree::tree_iterator it=tree.begin_tree(),
end=tree.end_tree(); it!= end; ++it) {
if (it.isLeaf()) {
if (tree.isNodeOccupied(*it)) {
actualOccupied += 1;
}
else {
actualFree += 1;
}
}
}
cout << "change detection: " << changedOccupied << " occ; " << changedFree << " free; "<< missingChanged << " missing" << endl;
cout << "actual: " << actualOccupied << " occ; " << actualFree << " free; " << endl;
tree.prune();
}
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 btFilename = "";
unsigned char maxDepth = 16;
// test timing:
timeval start;
timeval stop;
const unsigned char tree_depth(16);
const unsigned int tree_max_val(32768);
double time_it, time_depr;
if (argc <= 1|| argc >3 || strcmp(argv[1], "-h") == 0){
printUsage(argv[0]);
}
btFilename = std::string(argv[1]);
if (argc > 2){
maxDepth = (unsigned char)atoi(argv[2]);
}
maxDepth = std::min((unsigned char)16,maxDepth);
if (maxDepth== 0)
maxDepth = tree_depth;
// iterate over empty tree:
OcTree emptyTree(0.2);
EXPECT_EQ(emptyTree.size(), 0);
EXPECT_EQ(emptyTree.calcNumNodes(), 0);
size_t iteratedNodes = 0;
OcTree::tree_iterator t_it = emptyTree.begin_tree(maxDepth);
OcTree::tree_iterator t_end = emptyTree.end_tree();
EXPECT_TRUE (t_it == t_end);
for( ; t_it != t_end; ++t_it){
iteratedNodes++;
}
EXPECT_EQ(iteratedNodes, 0);
for(OcTree::leaf_iterator l_it = emptyTree.begin_leafs(maxDepth), l_end=emptyTree.end_leafs(); l_it!= l_end; ++l_it){
iteratedNodes++;
}
EXPECT_EQ(iteratedNodes, 0);
cout << "\nReading OcTree file\n===========================\n";
OcTree* tree = new OcTree(btFilename);
if (tree->size()<= 1){
std::cout << "Error reading file, exiting!\n";
return 1;
}
size_t count;
std::list<OcTreeVolume> list_depr;
std::list<OcTreeVolume> list_iterator;
/**
* get number of nodes:
*/
gettimeofday(&start, NULL); // start timer
size_t num_leafs_recurs = tree->getNumLeafNodes();
gettimeofday(&stop, NULL); // stop timer
time_depr = timediff(start, stop);
gettimeofday(&start, NULL); // start timer
size_t num_leafs_it = 0;
for(OcTree::leaf_iterator it = tree->begin(), end=tree->end(); it!= end; ++it) {
num_leafs_it++;
}
gettimeofday(&stop, NULL); // stop timer
time_it = timediff(start, stop);
std::cout << "Number of leafs: " << num_leafs_it << " / " << num_leafs_recurs << ", times: "
<<time_it << " / " << time_depr << "\n========================\n\n";
/**
* get all occupied leafs
*/
point3d tree_center;
tree_center(0) = tree_center(1) = tree_center(2)
= (float) (((double) tree_max_val) * tree->getResolution());
gettimeofday(&start, NULL); // start timer
getLeafNodesRecurs(list_depr,maxDepth,tree->getRoot(), 0, tree_center, tree_center, tree, true);
gettimeofday(&stop, NULL); // stop timer
time_depr = timediff(start, stop);
gettimeofday(&start, NULL); // start timer
for(OcTree::iterator it = tree->begin(maxDepth), end=tree->end(); it!= end; ++it){
if(tree->isNodeOccupied(*it))
{
//count ++;
list_iterator.push_back(OcTreeVolume(it.getCoordinate(), it.getSize()));
}
}
gettimeofday(&stop, NULL); // stop timer
time_it = timediff(start, stop);
std::cout << "Occupied lists traversed, times: "
<<time_it << " / " << time_depr << "\n";
compareResults(list_iterator, list_depr);
std::cout << "========================\n\n";
/**
* get all free leafs
*/
list_iterator.clear();
list_depr.clear();
gettimeofday(&start, NULL); // start timer
for(OcTree::leaf_iterator it = tree->begin(maxDepth), end=tree->end(); it!= end; ++it) {
if(!tree->isNodeOccupied(*it))
list_iterator.push_back(OcTreeVolume(it.getCoordinate(), it.getSize()));
}
gettimeofday(&stop, NULL); // stop timer
time_it = timediff(start, stop);
gettimeofday(&start, NULL); // start timer
getLeafNodesRecurs(list_depr,maxDepth,tree->getRoot(), 0, tree_center, tree_center, tree, false);
gettimeofday(&stop, NULL); // stop timer
time_depr = timediff(start, stop);
std::cout << "Free lists traversed, times: "
<<time_it << " / " << time_depr << "\n";
compareResults(list_iterator, list_depr);
std::cout << "========================\n\n";
/**
* get all volumes
*/
list_iterator.clear();
list_depr.clear();
gettimeofday(&start, NULL); // start timer
getVoxelsRecurs(list_depr,maxDepth,tree->getRoot(), 0, tree_center, tree_center, tree->getResolution());
gettimeofday(&stop, NULL); // stop timer
time_depr = timediff(start, stop);
gettimeofday(&start, NULL); // start timers
for(OcTree::tree_iterator it = tree->begin_tree(maxDepth), end=tree->end_tree();
it!= end; ++it){
//count ++;
//std::cout << it.getDepth() << " " << " "<<it.getCoordinate()<< std::endl;
list_iterator.push_back(OcTreeVolume(it.getCoordinate(), it.getSize()));
}
gettimeofday(&stop, NULL); // stop timer
time_it = timediff(start, stop);
list_iterator.sort(OcTreeVolumeSortPredicate);
list_depr.sort(OcTreeVolumeSortPredicate);
std::cout << "All inner lists traversed, times: "
<<time_it << " / " << time_depr << "\n";
compareResults(list_iterator, list_depr);
std::cout << "========================\n\n";
// traverse all leaf nodes, timing:
gettimeofday(&start, NULL); // start timers
count = 0;
for(OcTree::iterator it = tree->begin(maxDepth), end=tree->end();
it!= end; ++it){
// do something:
// std::cout << it.getDepth() << " " << " "<<it.getCoordinate()<< std::endl;
count++;
}
gettimeofday(&stop, NULL); // stop timer
time_it = timediff(start, stop);
std::cout << "Time to traverse all leafs at max depth " <<(unsigned int)maxDepth <<" ("<<count<<" nodes): "<< time_it << " s\n\n";
/**
* bounding box tests
*/
//tree->expand();
// test complete tree (should be equal to no bbx)
OcTreeKey bbxMinKey, bbxMaxKey;
double temp_x,temp_y,temp_z;
tree->getMetricMin(temp_x,temp_y,temp_z);
octomap::point3d bbxMin(temp_x,temp_y,temp_z);
tree->getMetricMax(temp_x,temp_y,temp_z);
octomap::point3d bbxMax(temp_x,temp_y,temp_z);
EXPECT_TRUE(tree->coordToKeyChecked(bbxMin, bbxMinKey));
EXPECT_TRUE(tree->coordToKeyChecked(bbxMax, bbxMaxKey));
OcTree::leaf_bbx_iterator it_bbx = tree->begin_leafs_bbx(bbxMinKey,bbxMaxKey);
EXPECT_TRUE(it_bbx == tree->begin_leafs_bbx(bbxMinKey,bbxMaxKey));
OcTree::leaf_bbx_iterator end_bbx = tree->end_leafs_bbx();
EXPECT_TRUE(end_bbx == tree->end_leafs_bbx());
OcTree::leaf_iterator it = tree->begin_leafs();
EXPECT_TRUE(it == tree->begin_leafs());
OcTree::leaf_iterator end = tree->end_leafs();
EXPECT_TRUE(end == tree->end_leafs());
for( ; it!= end && it_bbx != end_bbx; ++it, ++it_bbx){
EXPECT_TRUE(it == it_bbx);
}
EXPECT_TRUE(it == end && it_bbx == end_bbx);
// now test an actual bounding box:
tree->expand(); // (currently only works properly for expanded tree (no multires)
bbxMin = point3d(-1, -1, - 1);
bbxMax = point3d(3, 2, 1);
EXPECT_TRUE(tree->coordToKeyChecked(bbxMin, bbxMinKey));
EXPECT_TRUE(tree->coordToKeyChecked(bbxMax, bbxMaxKey));
typedef unordered_ns::unordered_map<OcTreeKey, double, OcTreeKey::KeyHash> KeyVolumeMap;
KeyVolumeMap bbxVoxels;
count = 0;
for(OcTree::leaf_bbx_iterator it = tree->begin_leafs_bbx(bbxMinKey,bbxMaxKey), end=tree->end_leafs_bbx();
it!= end; ++it)
{
count++;
OcTreeKey currentKey = it.getKey();
// leaf is actually a leaf:
EXPECT_FALSE(it->hasChildren());
// leaf exists in tree:
OcTreeNode* node = tree->search(currentKey);
EXPECT_TRUE(node);
EXPECT_EQ(node, &(*it));
// all leafs are actually in the bbx:
for (unsigned i = 0; i < 3; ++i){
// if (!(currentKey[i] >= bbxMinKey[i] && currentKey[i] <= bbxMaxKey[i])){
// std::cout << "Key failed: " << i << " " << currentKey[i] << " "<< bbxMinKey[i] << " "<< bbxMaxKey[i]
// << "size: "<< it.getSize()<< std::endl;
// }
EXPECT_TRUE(currentKey[i] >= bbxMinKey[i] && currentKey[i] <= bbxMaxKey[i]);
}
bbxVoxels.insert(std::pair<OcTreeKey,double>(currentKey, it.getSize()));
}
EXPECT_EQ(bbxVoxels.size(), count);
std::cout << "Bounding box traversed ("<< count << " leaf nodes)\n\n";
// compare with manual BBX check on all leafs:
for(OcTree::leaf_iterator it = tree->begin(), end=tree->end(); it!= end; ++it) {
OcTreeKey key = it.getKey();
if ( key[0] >= bbxMinKey[0] && key[0] <= bbxMaxKey[0]
&& key[1] >= bbxMinKey[1] && key[1] <= bbxMaxKey[1]
&& key[2] >= bbxMinKey[2] && key[2] <= bbxMaxKey[2])
{
KeyVolumeMap::iterator bbxIt = bbxVoxels.find(key);
EXPECT_FALSE(bbxIt == bbxVoxels.end());
EXPECT_TRUE(key == bbxIt->first);
EXPECT_EQ(it.getSize(), bbxIt->second);
}
}
// test tree with one node:
OcTree simpleTree(0.01);
simpleTree.updateNode(point3d(10, 10, 10), 5.0f);
for(OcTree::leaf_iterator it = simpleTree.begin_leafs(maxDepth), end=simpleTree.end_leafs(); it!= end; ++it) {
std::cout << it.getDepth() << " " << " "<<it.getCoordinate()<< std::endl;
}
std::cout << "Tests successful\n";
return 0;
}
int main(int argc, char** argv) {
// default values:
double res = 0.1;
if (argc < 2)
printUsage(argv[0]);
string graphFilename = std::string(argv[1]);
double maxrange = -1;
int max_scan_no = -1;
int skip_scan_eval = 5;
int arg = 1;
while (++arg < argc) {
if (! strcmp(argv[arg], "-i"))
graphFilename = std::string(argv[++arg]);
else if (! strcmp(argv[arg], "-res"))
res = atof(argv[++arg]);
else if (! strcmp(argv[arg], "-m"))
maxrange = atof(argv[++arg]);
else if (! strcmp(argv[arg], "-n"))
max_scan_no = atoi(argv[++arg]);
else {
printUsage(argv[0]);
}
}
cout << "\nReading Graph file\n===========================\n";
ScanGraph* graph = new ScanGraph();
if (!graph->readBinary(graphFilename))
exit(2);
size_t 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;
}
cout << "\nCreating tree\n===========================\n";
OcTree* tree = new OcTree(res);
size_t numScans = graph->size();
unsigned int currentScan = 1;
for (ScanGraph::iterator scan_it = graph->begin(); scan_it != graph->end(); scan_it++) {
if (currentScan % skip_scan_eval != 0){
if (max_scan_no > 0) cout << "("<<currentScan << "/" << max_scan_no << ") " << flush;
else cout << "("<<currentScan << "/" << numScans << ") " << flush;
tree->insertPointCloud(**scan_it, maxrange);
} else
cout << "(SKIP) " << flush;
if ((max_scan_no > 0) && (currentScan == (unsigned int) max_scan_no))
break;
currentScan++;
}
tree->expand();
cout << "\nEvaluating scans\n===========================\n";
currentScan = 1;
size_t num_points = 0;
size_t num_voxels_correct = 0;
size_t num_voxels_wrong = 0;
size_t num_voxels_unknown = 0;
for (ScanGraph::iterator scan_it = graph->begin(); scan_it != graph->end(); scan_it++) {
if (currentScan % skip_scan_eval == 0){
if (max_scan_no > 0) cout << "("<<currentScan << "/" << max_scan_no << ") " << flush;
else cout << "("<<currentScan << "/" << numScans << ") " << flush;
pose6d frame_origin = (*scan_it)->pose;
point3d sensor_origin = frame_origin.inv().transform((*scan_it)->pose.trans());
// transform pointcloud:
Pointcloud scan (*(*scan_it)->scan);
scan.transform(frame_origin);
point3d origin = frame_origin.transform(sensor_origin);
KeySet free_cells, occupied_cells;
tree->computeUpdate(scan, origin, free_cells, occupied_cells, maxrange);
num_points += scan.size();
// count free cells
for (KeySet::iterator it = free_cells.begin(); it != free_cells.end(); ++it) {
OcTreeNode* n = tree->search(*it);
if (n){
if (tree->isNodeOccupied(n))
num_voxels_wrong++;
else
num_voxels_correct++;
} else
num_voxels_unknown++;
} // count occupied cells
for (KeySet::iterator it = occupied_cells.begin(); it != occupied_cells.end(); ++it) {
OcTreeNode* n = tree->search(*it);
if (n){
if (tree->isNodeOccupied(n))
num_voxels_correct++;
else
num_voxels_wrong++;
} else
num_voxels_unknown++;
}
}
if ((max_scan_no > 0) && (currentScan == (unsigned int) max_scan_no))
break;
currentScan++;
}
cout << "\nFinished evaluating " << num_points <<"/"<< num_points_in_graph << " points.\n"
<<"Voxels correct: "<<num_voxels_correct<<" #wrong: " <<num_voxels_wrong << " #unknown: " <<num_voxels_unknown
<<". % correct: "<< num_voxels_correct/double(num_voxels_correct+num_voxels_wrong)<<"\n\n";
delete graph;
delete tree;
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();
}
