FHWS/Indoor
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added support for .obj objects within the floorplan

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include objects within navmesh calculation
include objects within 3d mesh generation
minor changes/fixes
This commit is contained in:
FrankE
2018-02-17 17:20:43 +01:00
parent 42a3a47317
commit 8358f45674
15 changed files with 770 additions and 114 deletions
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21
floorplan/v2/Floorplan.h
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@@ -275,15 +275,15 @@ namespace Floorplan {
bool operator == (const POI& o) const {return (o.type == type) && (o.name == name) && (o.pos == pos);}
};
/** a GroundTruthPoint located somewhere on a floor */
struct GroundTruthPoint {
int id; //TODO: this value can be changed and isn't set incremental within the indoormap
/** a GroundTruthPoint located somewhere on a floor */
struct GroundTruthPoint {
int id; //TODO: this value can be changed and isn't set incremental within the indoormap
Point3 pos; // TODO: splint into 2D position + float for "heightAboveGround" [waypoints' height is relative to the floor's height!
GroundTruthPoint() : id(), pos() {;}
GroundTruthPoint() : id(), pos() {;}
GroundTruthPoint(const int id, const Point3& pos) : id(id), pos(pos) {;}
const Point3 getPosition(const Floor& f) const {return pos + Point3(0,0,f.atHeight);}
bool operator == (const GroundTruthPoint& o) const {return (o.id == id) && (o.pos == pos);}
};
bool operator == (const GroundTruthPoint& o) const {return (o.id == id) && (o.pos == pos);}
};
/** an AccessPoint located somewhere on a floor */
struct AccessPoint : public HasMeta {
@@ -317,7 +317,7 @@ namespace Floorplan {
Beacon() : name(), mac(), pos() {;}
Beacon(const std::string& name, const std::string& mac, const Point3& pos) : name(name), mac(mac), pos(pos) {;}
bool operator == (const Beacon& o) const {return (o.name == name) && (o.mac == mac) && (o.pos == pos);}
Point3 getPos(const Floor* f) const {return pos + Point3(0,0,f->atHeight);} // relative to the floor's ground
Point3 getPos(const Floor* f) const {return pos + Point3(0,0,f->atHeight);} // relative to the floor's ground
};
@@ -371,6 +371,13 @@ namespace Floorplan {
float getSize() const {return (to-from).length();}
};
/** 3D obstacle */
struct FloorObstacleObject : public FloorObstacle {
std::string file;
Point3 pos;
Point3 rot;
FloorObstacleObject(const std::string& file, const Point3 pos, const Point3 rot) : file(file), pos(pos), rot(rot) {;}
};

10
floorplan/v2/FloorplanReader.h
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@@ -391,6 +391,7 @@ namespace Floorplan {
if (std::string("line") == n->Name()) {obstacles.push_back(parseFloorObstacleLine(n));}
if (std::string("circle") == n->Name()) {obstacles.push_back(parseFloorObstacleCircle(n));}
if (std::string("door") == n->Name()) {obstacles.push_back(parseFloorObstacleDoor(n));}
if (std::string("object") == n->Name()) {obstacles.push_back(parseFloorObstacleObject(n));}
}
return obstacles;
}
@@ -426,6 +427,15 @@ namespace Floorplan {
);
}
/** parse one object */
static FloorObstacleObject* parseFloorObstacleObject(const XMLElem* el) {
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"))
);
}
/** parse a floor's <outline> tag */
static FloorOutline parseFloorOutline(const XMLElem* el) {
FloorOutline outline;

35
floorplan/v2/FloorplanWriter.h
View File

@@ -170,16 +170,16 @@ namespace Floorplan {
}
floor->InsertEndChild(pois);
XMLElem* gtpoints = doc.NewElement("gtpoints");
for (const GroundTruthPoint* gtp : mf->gtpoints) {
XMLElem* elem = doc.NewElement("gtpoint");
elem->SetAttribute("id", gtp->id);
elem->SetAttribute("x", gtp->pos.x);
elem->SetAttribute("y", gtp->pos.y);
elem->SetAttribute("z", gtp->pos.z);
gtpoints->InsertEndChild(elem);
}
floor->InsertEndChild(gtpoints);
XMLElem* gtpoints = doc.NewElement("gtpoints");
for (const GroundTruthPoint* gtp : mf->gtpoints) {
XMLElem* elem = doc.NewElement("gtpoint");
elem->SetAttribute("id", gtp->id);
elem->SetAttribute("x", gtp->pos.x);
elem->SetAttribute("y", gtp->pos.y);
elem->SetAttribute("z", gtp->pos.z);
gtpoints->InsertEndChild(elem);
}
floor->InsertEndChild(gtpoints);
XMLElem* accesspoints = doc.NewElement("accesspoints");
for (const AccessPoint* ap : mf->accesspoints) {
@@ -315,6 +315,8 @@ namespace Floorplan {
addFloorObstacleCircle(doc, obstacles, (FloorObstacleCircle*)fo);
} else if (dynamic_cast<FloorObstacleDoor*>(fo)) {
addFloorObstacleDoor(doc, obstacles, (FloorObstacleDoor*)fo);
} else if (dynamic_cast<FloorObstacleObject*>(fo)) {
addFloorObstacleObject(doc, obstacles, (FloorObstacleObject*)fo);
}
}
@@ -359,6 +361,19 @@ namespace Floorplan {
obstacles->InsertEndChild(obstacle);
}
/** write an object-obstacle */
static void addFloorObstacleObject(XMLDoc& doc, XMLElem* obstacles, FloorObstacleObject* obj) {
XMLElem* obstacle = doc.NewElement("object");
obstacle->SetAttribute("file", obj->file.c_str());
obstacle->SetAttribute("x", obj->pos.x);
obstacle->SetAttribute("y", obj->pos.y);
obstacle->SetAttribute("z", obj->pos.z);
obstacle->SetAttribute("rx", obj->rot.x);
obstacle->SetAttribute("ry", obj->rot.y);
obstacle->SetAttribute("rz", obj->rot.z);
obstacles->InsertEndChild(obstacle);
}
};