FHWS/Indoor
Archived
4
0
Fork 0
Code Issues 19 Pull Requests Releases 1 Wiki Activity

worked on 3d models within map

Browse Source 
adjusted grid factory
adjusted nav mesh factory
minoor changes/fixes
new helper classes
refactoring
This commit is contained in:
FrankE
2018-04-03 14:55:59 +02:00
parent f3b6155157
commit 1c2081d406
25 changed files with 620 additions and 93 deletions
Download Patch File Download Diff File Expand all files Collapse all files

75
wifi/estimate/ray3/Cube.h
View File

@@ -18,6 +18,16 @@ namespace Ray3D {
public:
enum Part {
CUBE_TOP = 1,
CUBE_BOTTOM = 2,
CUBE_LEFT = 4,
CUBE_RIGHT = 8,
CUBE_FRONT = 16,
CUBE_BACK = 32,
};
// Cube (const Point3 p1, const Point3 p2, const Point3 p3, const Point3 p4, const float h) {
//// const Point3 ph(0,0,h);
//// addQuad(p1+ph, p2+ph, p3+ph, p4+ph); // top
@@ -30,8 +40,8 @@ namespace Ray3D {
// }
/** ctor with position, size and rotation */
Cube(const Point3 pos, const Point3 size, const Point3 rot_deg, const bool topAndBottom = true) {
unitCube(topAndBottom);
Cube(const Point3 pos, const Point3 size, const Point3 rot_deg, const Part parts = (Part)63) {
unitCube(parts);
transform(pos, size, rot_deg);
}
@@ -50,8 +60,10 @@ namespace Ray3D {
return res;
}
static Cube unit() {
return Cube();
static Cube unit(const Part parts = (Part) 63) {
Cube cube;
cube.unitCube(parts);
return cube;
}
/** cube from 8 vertices (upper 4, lower 4) */
@@ -77,72 +89,73 @@ namespace Ray3D {
private:
/** build unit-cube faces */
void unitCube(const bool topAndBottom) {
void unitCube(const Part parts) {
const float s = 1.0f;
// left?
addQuad(
Point3(+s, -s, -s),
Point3(+s, -s, +s),
Point3(-s, -s, +s),
Point3(-s, -s, -s)
);
if (parts & CUBE_LEFT) {
addQuad(
Point3(+s, -s, -s),
Point3(+s, -s, +s),
Point3(-s, -s, +s),
Point3(-s, -s, -s)
);
}
// right?
addQuad(
Point3(-s, +s, -s),
Point3(-s, +s, +s),
Point3(+s, +s, +s),
Point3(+s, +s, -s)
);
if (parts & CUBE_RIGHT) {
addQuad(
Point3(-s, +s, -s),
Point3(-s, +s, +s),
Point3(+s, +s, +s),
Point3(+s, +s, -s)
);
}
// small side
if (1 == 1) {
// front
// front
if (parts & CUBE_FRONT) {
addQuad(
Point3(-s, -s, -s),
Point3(-s, -s, +s),
Point3(-s, +s, +s),
Point3(-s, +s, -s)
);
}
// read
// back
if (parts & CUBE_BACK) {
addQuad(
Point3(+s, +s, -s),
Point3(+s, +s, +s),
Point3(+s, -s, +s),
Point3(+s, -s, -s)
);
}
if (topAndBottom) {
// top
// top
if (parts & CUBE_TOP) {
addQuad(
Point3(+s, +s, +s),
Point3(-s, +s, +s),
Point3(-s, -s, +s),
Point3(+s, -s, +s)
);
}
// bottom
// bottom
if (parts & CUBE_BOTTOM) {
addQuad(
Point3(+s, -s, -s),
Point3(-s, -s, -s),
Point3(-s, +s, -s),
Point3(+s, +s, -s)
);
}
}

127
wifi/estimate/ray3/MTLReader.h Normal file
View File

@@ -0,0 +1,127 @@
#ifndef MTLREADER_H
#define MTLREADER_H
#include <vector>
#include <unordered_map>
#include <string>
#include <fstream>
#include "../../../geo/Point2.h"
#include "../../../geo/Point3.h"
/**
* prase .mtl files
*/
class MTLReader {
public:
struct Material {
std::string textureFile = "";
Point3 diffuse = Point3(1,1,1);
float alpha = 1.0;
};
Material* cur = nullptr;
std::unordered_map<std::string, Material> map;
/** ctor. use readXYZ() */
MTLReader() {
;
}
/** read .obj from the given file */
void readFile(const std::string& file) {
std::ifstream is(file);
std::string line;
while(getline(is, line)) {parseLine(line);}
is.close();
}
/** read obj from the given data string (.obj file contents) */
void readData(const std::string& data) {
std::stringstream is(data);
std::string line;
while(getline(is, line)) {parseLine(line);}
}
/** get the given material */
const Material& getMaterial(const std::string& mat) const {
const auto& it = map.find(mat);
if (it == map.end()) {throw Exception("material not available");}
return it->second;
}
private:
template<typename Out>
void split(const std::string &s, char delim, Out result) {
std::stringstream ss(s);
std::string item;
while (std::getline(ss, item, delim)) {
*(result++) = item;
}
}
void replaceAll(std::string& str, const std::string& from, const std::string& to) {
size_t start_pos = 0;
while((start_pos = str.find(from, start_pos)) != std::string::npos) {
size_t end_pos = start_pos + from.length();
str.replace(start_pos, end_pos, to);
start_pos += to.length(); // In case 'to' contains 'from', like replacing 'x' with 'yx'
}
}
/** remove empty strings from the vector */
std::vector<std::string> nonEmpty(const std::vector<std::string>& src) {
std::vector<std::string> res;
for (const std::string& s : src) {
if (!s.empty()) {res.push_back(s);}
}
return res;
}
std::vector<std::string> split(const std::string &s, char delim) {
std::vector<std::string> elems;
split(s, delim, std::back_inserter(elems));
return elems;
}
/** parse one line of the .obj file */
void parseLine(std::string line) {
if (line.length() < 2) {return;}
// remove leading "#"
while (line[0] == ' ' || line[0] == '\t') {
line.erase(line.begin());
}
// remove other linebreaks
replaceAll(line, "\r", "");
const std::vector<std::string> tokens = nonEmpty(split(line, ' '));
const std::string token = tokens.front();
if ("newmtl" == token) {
const std::string id = tokens[1];
map[id] = Material();
cur = &map[id];
} else if ("map_Ka" == token) {
const std::string texFile = tokens[1];
cur->textureFile = texFile;
} else if ("Kd" == token) {
cur->diffuse.x = std::stof(tokens[1]);
cur->diffuse.y = std::stof(tokens[2]);
cur->diffuse.z = std::stof(tokens[3]);
} else if ("d" == token) {
cur->alpha = std::stof(tokens[1]);
}
}
};
#endif // MTLREADER_H

19
wifi/estimate/ray3/ModelFactory.h
View File

@@ -18,7 +18,7 @@ namespace Ray3D {
*/
class ModelFactory {
private:
public:
bool exportCeilings = true;
bool exportObstacles = true;
@@ -26,9 +26,12 @@ namespace Ray3D {
bool fancyStairs = true;
bool exportHandrails = true;
bool exportDoors = true;
bool doorsOpen = true;
bool exportAboveDoors = true;
bool doorsOpen = false;
bool exportObjects = true;
bool exportWallTops = false;
Cube::Part cubeParts = (Cube::Part) 63; // leftright,topbottom,rearfront
std::vector<Floorplan::Floor*> exportFloors;
/** the to-be-exported map */
@@ -233,7 +236,9 @@ namespace Ray3D {
}
//std::vector<Obstacle3D> tmp = getDoorAbove(f, door);
//res.insert(res.end(), tmp.begin(), tmp.end());
res.push_back(getDoorAbove(f, door));
if (exportAboveDoors) {
res.push_back(getDoorAbove(f, door));
}
}
}
@@ -274,8 +279,8 @@ namespace Ray3D {
const float deg = rad * 180 / M_PI;
// cube's destination center
const float cenZ = (!aboveDoor) ? (fpos.z1 + fpos.height/2) : (fpos.z2 - (fpos.height - aboveDoor->height) / 2);
const float height = (!aboveDoor) ? (fpos.height) : (fpos.height - aboveDoor->height);
const double height = (!aboveDoor) ? (fpos.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);
// div by 2.01 to prevent overlapps and z-fighting
@@ -286,7 +291,7 @@ namespace Ray3D {
const Point3 rot(0,0,deg);
// build
Cube cube(pos, size, rot);
Cube cube(pos, size, rot, cubeParts);
// done
Obstacle3D res(getType(fol), fol->material);
@@ -359,7 +364,7 @@ namespace Ray3D {
const float sz = door->height / 2.01f; // prevent overlaps
const Point3 size(sx, sy, sz);
Cube cube = Cube::unit();
Cube cube = Cube::unit(cubeParts);
cube.transform(mat);
cube.transform(pos, size, rot);
res.triangles = cube.getTriangles();

8
wifi/estimate/ray3/OBJPool.h
View File

@@ -91,9 +91,11 @@ namespace Ray3D {
// create triangles
Obstacle3D obs;
for (const OBJReader::Face& face : reader.getData().faces) {
const Triangle3 tria(face.vnt[0].vertex, face.vnt[1].vertex, face.vnt[2].vertex);
obs.triangles.push_back(tria);
for (const OBJReader::Object& obj : reader.getData().objects) {
for (const OBJReader::Face& face : obj.faces) {
const Triangle3 tria(face.vnt[0].vertex, face.vnt[1].vertex, face.vnt[2].vertex);
obs.triangles.push_back(tria);
}
}
// store

71
wifi/estimate/ray3/OBJReader.h
View File

@@ -14,7 +14,6 @@ class OBJReader {
public:
/** group vertex+normal+texture */
struct VNT {
int idxVertex;
@@ -31,15 +30,26 @@ public:
Face(VNT v1, VNT v2, VNT v3) : vnt({v1,v2,v3}) {;}
};
/** one object within the file */
struct Object {
std::string material;
std::string name;
std::vector<Face> faces;
};
/** internal data */
struct Data {
std::vector<Point3> vertices;
std::vector<Point2> texCoords;
std::vector<Point3> normals;
std::vector<Face> faces;
std::vector<std::string> materialFiles;
std::vector<Object> objects;
Object& curObj() {
if (objects.empty()) {objects.push_back(Object());}
return objects.back();
}
} data;
public:
/** ctor. use readXYZ() */
@@ -68,6 +78,24 @@ public:
private:
void replaceAll(std::string& str, const std::string& from, const std::string& to) {
size_t start_pos = 0;
while((start_pos = str.find(from, start_pos)) != std::string::npos) {
size_t end_pos = start_pos + from.length();
str.replace(start_pos, end_pos, to);
start_pos += to.length(); // In case 'to' contains 'from', like replacing 'x' with 'yx'
}
}
/** remove empty strings from the vector */
std::vector<std::string> nonEmpty(const std::vector<std::string>& src) {
std::vector<std::string> res;
for (const std::string& s : src) {
if (!s.empty()) {res.push_back(s);}
}
return res;
}
template<typename Out>
void split(const std::string &s, char delim, Out result) {
std::stringstream ss(s);
@@ -84,20 +112,33 @@ private:
}
/** parse one line of the .obj file */
void parseLine(const std::string& line) {
void parseLine(std::string line) {
if (line.length() < 2) {return;}
const std::vector<std::string> tokens = split(line, ' ');
// remove other linebreaks
replaceAll(line, "\r", "");
const std::vector<std::string> tokens = nonEmpty(split(line, ' '));
const std::string token = tokens.front();
if ("v" == token) {parseVertex(tokens);}
if ("vt" == token) {parseTexCoord(tokens);}
if ("vn" == token) {parseNormal(tokens);}
if ("f" == token) {parseFace(tokens);}
if ("mtllib" == token) {data.materialFiles.push_back(tokens[1]);}
if ("usemtl" == token) {data.curObj().material = tokens[1];}
if ("v" == token) {parseVertex(tokens);}
if ("vt" == token) {parseTexCoord(tokens);}
if ("vn" == token) {parseNormal(tokens);}
if ("f" == token) {parseFace(tokens);}
if ("g" == token) {newObject(tokens[1]);}
}
/** allocate a new object */
void newObject(const std::string& name) {
Object o;
o.name = name;
data.objects.push_back(o);
}
/** parse one vertex from the tokenizer */
void parseVertex(const std::vector<std::string>& t) {
const float x = std::stof(t[1]);
@@ -135,18 +176,20 @@ private:
++numVertices;
const std::string v = vtn[0];
const std::string vt = (vtn.size() > 1) ? (vtn[1]) : ("");
const std::string vn = (vtn.size() > 2) ? (vtn[2]) : ("");
//const std::string vt = t2.getToken('/', false);
//const std::string vn = t2.getToken('/', false);
// create a new vertex/normal/texture combination
VNT vnt;
vnt.idxVertex = (std::stoi(v) - 1);
//vnt.idxNormal = (vn.empty()) ? (-1) : (std::stoi(vn) - 1);
//vnt.idxTexture = (vt.empty()) ? (-1) : (std::stoi(vt) - 1);
vnt.idxNormal = (vn.empty()) ? (-1) : (std::stoi(vn) - 1);
vnt.idxTexture = (vt.empty()) ? (-1) : (std::stoi(vt) - 1);
if (vnt.idxVertex >= 0) {vnt.vertex = data.vertices[vnt.idxVertex];}
//if (vnt.idxNormal >= 0) {vnt.normal = data.normals[vnt.idxNormal];}
//if (vnt.idxTexture >= 0) {vnt.texture = data.texCoords[vnt.idxTexture];}
if (vnt.idxNormal >= 0) {vnt.normal = data.normals[vnt.idxNormal];}
if (vnt.idxTexture >= 0) {vnt.texture = data.texCoords[vnt.idxTexture];}
indices.push_back(vnt);
@@ -156,7 +199,7 @@ private:
// see: http://www.mathopenref.com/polygontriangles.html
for (int i = 1; i < (int) indices.size()-1; ++i) {
Face face(indices[0], indices[1], indices[i+1]);
data.faces.push_back(face);
data.curObj().faces.push_back(face);
}
// sanity check

22
wifi/estimate/ray3/Obstacle3.h
View File

@@ -59,6 +59,28 @@ namespace Ray3D {
return copy;
}
/** get all triangle-edge-points (x,y) within the obstacle */
std::vector<Point2> getPoints2D() const {
std::vector<Point2> res;
for (const Triangle3& tria : triangles) {
res.push_back(tria.p1.xy());
res.push_back(tria.p2.xy());
res.push_back(tria.p3.xy());
}
return res;
}
/** get all triangle-edge-points (x,y,z) within the obstacle */
std::vector<Point3> getPoints3D() const {
std::vector<Point3> res;
for (const Triangle3& tria : triangles) {
res.push_back(tria.p1);
res.push_back(tria.p2);
res.push_back(tria.p3);
}
return res;
}
};
}