added floorplan support for object-sizing

added floorplan support for different wall-heights
minor fixes/changes

floorplan/v2/Floorplan.h

@@ -349,8 +349,9 @@ namespace Floorplan {
 		Point2 from;
 		Point2 to;
 		float thickness_m;
-		FloorObstacleLine(const ObstacleType type, const Material material, const Point2 from, const Point2 to, const float thickness_m = 0.2f) : FloorObstacle(material), type(type), from(from), to(to), thickness_m(thickness_m) {;}
+		float height_m = 0;	// 0 = floor's height
-		FloorObstacleLine(const ObstacleType type, const Material material, const float x1, const float y1, const float x2, const float y2, const float thickness_m = 0.2f) : FloorObstacle(material), type(type), from(x1,y1), to(x2,y2), thickness_m(thickness_m) {;}
+		FloorObstacleLine(const ObstacleType type, const Material material, const Point2 from, const Point2 to, const float thickness_m = 0.2f, const float height_m = 0) : FloorObstacle(material), type(type), from(from), to(to), thickness_m(thickness_m), height_m(height_m) {;}
+		FloorObstacleLine(const ObstacleType type, const Material material, const float x1, const float y1, const float x2, const float y2, const float thickness_m = 0.2f, const float height_m = 0) : FloorObstacle(material), type(type), from(x1,y1), to(x2,y2), thickness_m(thickness_m), height_m(height_m) {;}
 	};
 
 	/** circle obstacle */
@@ -380,7 +381,8 @@ namespace Floorplan {
 		std::string file;
 		Point3 pos;
 		Point3 rot;
-		FloorObstacleObject(const std::string& file, const Point3 pos, const Point3 rot) : file(file), pos(pos), rot(rot) {;}
+		Point3 scale = Point3(1,1,1);
+		FloorObstacleObject(const std::string& file, const Point3 pos, const Point3 rot, const Point3 scale) : file(file), pos(pos), rot(rot), scale(scale) {;}
 	};
 
 

floorplan/v2/FloorplanReader.h

@@ -403,7 +403,8 @@ namespace Floorplan {
 				parseMaterial(el->Attribute("material")),
 				el->FloatAttribute("x1"), el->FloatAttribute("y1"),
 				el->FloatAttribute("x2"), el->FloatAttribute("y2"),
-				(el->FloatAttribute("thickness") > 0) ? (el->FloatAttribute("thickness")) : (0.15)	// default wall thickness in m
+				(el->FloatAttribute("thickness") > 0) ? (el->FloatAttribute("thickness")) : (0.15),	// default wall thickness in m
+				el->FloatAttribute("height")
 			);
 		}
 
@@ -433,7 +434,8 @@ namespace Floorplan {
 			return new FloorObstacleObject(
 				el->Attribute("file"),
 				Point3(el->FloatAttribute("x"), el->FloatAttribute("y"), el->FloatAttribute("z")),
-				Point3(el->FloatAttribute("rx"), el->FloatAttribute("ry"), el->FloatAttribute("rz"))
+				Point3(el->FloatAttribute("rx", 0), el->FloatAttribute("ry", 0), el->FloatAttribute("rz", 0)),
+				Point3(el->FloatAttribute("sx", 1), el->FloatAttribute("sy", 1), el->FloatAttribute("sz", 1))
 			);
 		}
 

floorplan/v2/FloorplanWriter.h

@@ -334,6 +334,7 @@ namespace Floorplan {
 			obstacle->SetAttribute("x2", line->to.x);
 			obstacle->SetAttribute("y2", line->to.y);
 			obstacle->SetAttribute("thickness", line->thickness_m);
+			if (line->height_m != 0) {obstacle->SetAttribute("height", line->height_m);}
 			obstacles->InsertEndChild(obstacle);
 		}
 
@@ -344,7 +345,7 @@ namespace Floorplan {
 			obstacle->SetAttribute("cx", circle->center.x);
 			obstacle->SetAttribute("cy", circle->center.y);
 			obstacle->SetAttribute("radius", circle->radius);
-			obstacle->SetAttribute("height", circle->height);
+			if (circle->height != 0) {obstacle->SetAttribute("height", circle->height);}
 			obstacles->InsertEndChild(obstacle);
 		}
 
@@ -369,9 +370,12 @@ namespace Floorplan {
 			obstacle->SetAttribute("x", obj->pos.x);
 			obstacle->SetAttribute("y", obj->pos.y);
 			obstacle->SetAttribute("z", obj->pos.z);
-			obstacle->SetAttribute("rx", obj->rot.x);
+			if (obj->rot.x != 0)	{obstacle->SetAttribute("rx", obj->rot.x);}
-			obstacle->SetAttribute("ry", obj->rot.y);
+			if (obj->rot.y != 0)	{obstacle->SetAttribute("ry", obj->rot.y);}
-			obstacle->SetAttribute("rz", obj->rot.z);
+			if (obj->rot.z != 0)	{obstacle->SetAttribute("rz", obj->rot.z);}
+			if (obj->scale.x != 1)	{obstacle->SetAttribute("sx", obj->scale.x);}
+			if (obj->scale.y != 1)	{obstacle->SetAttribute("sy", obj->scale.y);}
+			if (obj->scale.z != 1)	{obstacle->SetAttribute("sz", obj->scale.z);}
 			obstacles->InsertEndChild(obstacle);
 		}
 

geo/Triangle3.h

@@ -47,6 +47,14 @@ public:
 		return *this;
 	}
 
+	/** scale using 3 individual components */
+	Triangle3& operator *= (const Point3 o) {
+		p1 *= o;
+		p2 *= o;
+		p3 *= o;
+		return *this;
+	}
+
 	Point3 getNormal() const {
 		return cross( p2-p1, p3-p1 ).normalized();
 	}

grid/factory/v2/GridFactory.h

@@ -52,6 +52,7 @@ private:
 	bool _buildStairs = true;
 	bool _removeIsolated = true;
 	bool _addTightToObstacle = false;
+	bool _abortOnError = true;
 
 public:
 
@@ -60,6 +61,8 @@ public:
 
 	}
 
+	void setAbortOnError(const bool abort) {this->_abortOnError = abort;}
+
 	void setAddTightToObstacle(const bool tight) {this->_addTightToObstacle = tight;}
 
 	/** whether or not to build stairs */
@@ -181,7 +184,9 @@ public:
 
 				// belongs to a "add" polygon? -> remember until all polygons were checked
 				// [might still belong to a "remove" polygon]
-				res.outdoor = poly->outdoor;
+				if (poly->outdoor) {
+					res.outdoor = true;		// belonging to an outdoor region overwrites all other belongings
+				}
 
 			}
 		}
@@ -219,7 +224,7 @@ public:
 			if (foo) {
 
 				// get the obstacle
-				const Ray3D::Obstacle3D obs = Ray3D::OBJPool::get().getObject(foo->file).rotated_deg(foo->rot).translated(foo->pos);
+				const Ray3D::Obstacle3D obs = Ray3D::OBJPool::get().getObject(foo->file).scaled(foo->scale).rotated_deg(foo->rot).translated(foo->pos);
 
 				// construct its 2D convex hull (in centimter)
 				HelperPoly poly;
@@ -295,6 +300,8 @@ public:
 
 	void buildStairs(const Floorplan::IndoorMap* map, const Floorplan::Floor* floor, GridFactoryListener* listener = nullptr) {
 
+		stairs.setAbortOnError(_abortOnError);
+
 		const int total = floor->stairs.size();
 		int cur = 0;
 

grid/factory/v2/Stairs2.h

@@ -32,6 +32,7 @@ private:
 	std::vector<T*> toDelete;
 
 	bool tryImproveStairConnections = true;
+	bool abortOnError = true;
 
 private:
 
@@ -47,7 +48,6 @@ private:
 
 		StairNode(const int x_cm, const int y_cm, const int quadIdx) : x_cm(x_cm), y_cm(y_cm), belongsToQuadIdx(quadIdx) {;}
 
-
 	};
 
 
@@ -62,7 +62,10 @@ public:
 		finalize();
 	}
 
-
+	/** whether to abort when errors are detected */
+	void setAbortOnError(const bool abort) {
+		this->abortOnError = abort;
+	}
 
 
 
@@ -184,7 +187,11 @@ public:
 
 			// be sure both are connected to a floor
 			if (!end1OK || !end2OK) {
-				throw Exception("stair's start or end is not directly connectable to a floor");
+				if (abortOnError) {
+					throw Exception("stair's start or end is not directly connectable to a floor");
+				} else{
+					std::cout << "stair's start or end is not directly connectable to a floor" << std::endl;
+				}
 			}
 
 		}

navMesh/NavMeshFactory.h

@@ -632,7 +632,7 @@ namespace NM {
 			Floorplan::Polygon2 res;
 
 			// fetch object from pool
-			const Ray3D::Obstacle3D obs = Ray3D::OBJPool::get().getObject(obj->file).rotated_deg(obj->rot).translated(obj->pos);
+			const Ray3D::Obstacle3D obs = Ray3D::OBJPool::get().getObject(obj->file).scaled(obj->scale).rotated_deg(obj->rot).translated(obj->pos);
 
 			// construct 2D convex hull
 			res.points = ConvexHull2::get(obs.getPoints2D());

tests/ray/TestRayTrace3.cpp

@@ -20,7 +20,7 @@ TEST(RayTrace3, test) {
 
 	ModelFactory fac(map);
 	std::ofstream outOBJ("/tmp/vm/map.obj");
-	outOBJ << fac.getMesh().toOBJ();
+	outOBJ << fac.getMesh().toOBJ("obj").obj;
 	outOBJ.close();
 
 	const int gs_cm = 50;

wifi/estimate/ray3/ModelFactory.h

@@ -282,7 +282,7 @@ namespace Ray3D {
 
 			// attributes
 			const float r = foc->radius;
-			const float h = (foc->height > 0) ? (foc->height) : (fpos.height);
+			const float h = (foc->height > 0) ? (foc->height) : (fpos.height);		// use either floor's height or user height
 			const Point3 pos(foc->center.x, foc->center.y, fpos.z1 + h/2);
 
 			// build
@@ -310,7 +310,8 @@ namespace Ray3D {
 			const float deg = rad * 180 / M_PI;
 
 			// cube's destination center
-			const double height =	(!aboveDoor) ? (fpos.height) :				(fpos.height - aboveDoor->height);
+			const float _height =	(fol->height_m > 0) ? (fol->height_m) :		(fpos.height);	// use either floor's height or user height
+			const double height =	(!aboveDoor) ? (_height) :					(fpos.height - aboveDoor->height);
 			const double cenZ =		(!aboveDoor) ? (fpos.z1 + height/2) :		(fpos.z1 + aboveDoor->height + height/2);// (fpos.z2 - (fpos.height - aboveDoor->height) / 2);
 			const Point3 pos(cen2.x, cen2.y, cenZ);
 
@@ -338,6 +339,7 @@ namespace Ray3D {
 
 			const std::string& name = foo->file;
 			Obstacle3D obs = OBJPool::get().getObject(name);
+			obs = obs.scaled(foo->scale);
 			obs = obs.rotated_deg( Point3(foo->rot.x, foo->rot.y, foo->rot.z) );
 			obs = obs.translated(foo->pos + Point3(0,0,fpos.z1));
 			obs.type = Obstacle3D::Type::OBJECT;

wifi/estimate/ray3/Obstacle3.h

@@ -38,6 +38,14 @@ namespace Ray3D {
 		/** ctor */
 		Obstacle3D(Type type, Floorplan::Material mat) : type(type), mat(mat) {;}
 
+		/** scaled copy */
+		Obstacle3D scaled(const Point3 scale) const {
+			Obstacle3D copy = *this;
+			for (Triangle3& tria : copy.triangles) {
+				tria *= scale;
+			}
+			return copy;
+		}
 
 		/** translated copy */
 		Obstacle3D translated(const Point3 pos) const {