Function printChanges

octomap/src/testing/test_changedkeys.cpp:9–52

using namespace octomap;

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();
}