C++ OcTree::writeBinary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) {

  cout << endl;
  cout << "generating example map" << endl;

  OcTree tree (0.1);  // create empty tree with resolution 0.1


  // insert some measurements of occupied cells

  for (int x=-20; x<20; x++) {
    for (int y=-20; y<20; y++) {
      for (int z=-20; z<20; z++) {
        point3d endpoint ((float) x*0.05f, (float) y*0.05f, (float) z*0.05f);
        tree.updateNode(endpoint, true); // integrate 'occupied' measurement
      }
    }
  }

  // insert some measurements of free cells

  for (int x=-30; x<30; x++) {
    for (int y=-30; y<30; y++) {
      for (int z=-30; z<30; z++) {
        point3d endpoint ((float) x*0.02f-1.0f, (float) y*0.02f-1.0f, (float) z*0.02f-1.0f);
        tree.updateNode(endpoint, false);  // integrate 'free' measurement
      }
    }
  }

  cout << endl;
  cout << "performing some queries:" << endl;
  
  point3d query (0., 0., 0.);
  OcTreeNode* result = tree.search (query);
  print_query_info(query, result);

  query = point3d(-1.,-1.,-1.);
  result = tree.search (query);
  print_query_info(query, result);

  query = point3d(1.,1.,1.);
  result = tree.search (query);
  print_query_info(query, result);


  cout << endl;
  tree.writeBinary("simple_tree.bt");
  cout << "wrote example file simple_tree.bt" << endl << endl;
  cout << "now you can use octovis to visualize: octovis simple_tree.bt"  << endl;
  cout << "Hint: hit 'F'-key in viewer to see the freespace" << endl  << endl;  

}

void App::octreeHandler(const lcm::ReceiveBuffer* rbuf, const std::string& channel, const  drc::map_octree_t* msg){
  std::cout << "MAP_OCTREE received\n";

  // TODO: Currently not handling transform, assuming identity transform

  std::stringstream datastream;
  datastream.write((const char*) msg->data.data(), msg->num_bytes);
  tree_ = new octomap::OcTree(1); //resolution will be set by data from message
  tree_->readBinary(datastream);

  std::stringstream s;
  s <<  "/tmp/map_octomap.bt" ;
  printf("Saving MAP_OCTREE to: %s\n", s.str().c_str());
  tree_->writeBinary(s.str().c_str());

  exit(-1);
}

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);
//.........这里部分代码省略.........

//.........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");
  }
}

//.........这里部分代码省略.........
  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; 
    
    while (map2d.data.size() == 0 || !mapReceived)
    {
      ros::spinOnce();
    }
    
    //AbstractOcTree
    
    OcTree* treeTemp = binaryMsgToMap(mapMsg);
    
    //OcTree treeTemp(0.01);
    
    treeTemp->writeBinary("firstMap.bt");
    
    cout << "Loaded the Map" << endl;
    
    /*try{
    gTime = ros::Time::now();
    listener.waitForTransform("vicon", "xtion", gTime, ros::Duration(5.0));
    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;
    
    OcTree tree(res);
    
    tree.setClampingThresMax(0.999);
    tree.setClampingThresMin(0.001);

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);
  
  // ------------------------------------------------------------
//.........这里部分代码省略.........

//.........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);
}