C++ OcTree::insertPointCloud方法代码示例

int main(int argc, char** argv) {
  if (argc != 3)
    printUsage(argv[0]);

  string inputFilename = argv[1];
  string outputFilename = argv[2];

  // pcl point cloud
  pcl::PointCloud<pcl::PointXYZ>::Ptr pclcloud( new pcl::PointCloud<pcl::PointXYZ>() );
  pcl::io::loadPCDFile( inputFilename, *pclcloud );

  // data conversion
  Pointcloud * cloud = new Pointcloud;
  for ( size_t i = 0; i < pclcloud->size(); ++ i ) {
    point3d pt(pclcloud->points[i].x, pclcloud->points[i].y, pclcloud->points[i].z);
    cloud->push_back( pt );
  }
  point3d sensor_origin(0,0,0);
  OcTree* tree = new OcTree(0.1);
  tree->insertPointCloud( cloud, sensor_origin );
  tree->writeBinary(outputFilename);







}

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;
}

//.........这里部分代码省略.........
      }
    } 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) {
  // 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++;
//.........这里部分代码省略.........

//.........这里部分代码省略.........
    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);

//.........这里部分代码省略.........
    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);
}