FHWS/Indoor
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Merge branch 'master' of https://git.frank-ebner.de/FHWS/Indoor

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This commit is contained in:
k-a-z-u
2018-04-04 10:14:40 +02:00
parent 1b9084a9c0 2e6cf96f1d
commit a4ed06c4a4
10 changed files with 168 additions and 249 deletions
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2
Assertions.h
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@@ -22,7 +22,7 @@ namespace Assert {
template <typename STR> static inline void doThrow(const STR err) {
#ifdef WITH_ASSERTIONS
std::string str = "in: ";
str += __PRETTY_FUNCTION__;
str += __FUNCTION__;
str += " error: ";
str += err;
throw Exception(err);

38
floorplan/v2/FloorplanLINT.h
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@@ -16,14 +16,14 @@ namespace Floorplan {
/** possible issue types */
enum class Type {
WARN,
ERROR,
ERR,
};
/** type -> string */
static std::string getTypeStr(const Type t) {
switch(t) {
case Type::WARN: return "WARNING";
case Type::ERROR: return "ERROR";
case Type::ERR: return "ERROR";
default: throw Exception("code error. invalid type. todo!");
}
}
@@ -57,7 +57,7 @@ namespace Floorplan {
int err = 0;
for (const Issue& i : issues) {
std::cout << i.asString() << std::endl;
if (i.type == Type::ERROR) {++err;}
if (i.type == Type::ERR) {++err;}
}
if (err > 0) {
// throw Exception("detected floorplan errors");
@@ -74,7 +74,7 @@ namespace Floorplan {
// outline present?
if (floor->outline.empty()) {
res.push_back(Issue(Type::ERROR, floor, "has no outline"));
res.push_back(Issue(Type::ERR, floor, "has no outline"));
}
// check outline
@@ -115,14 +115,14 @@ namespace Floorplan {
static void checkOutline(Issues& res, const Floor* floor, const FloorOutlinePolygon* poly) {
// number of points valid?
if (poly->poly.points.size() < 3) {res.push_back(Issue(Type::ERROR, floor, "' outline '" + poly->name + "' needs at least 3 edges"));}
if (poly->poly.points.size() > 1024) {res.push_back(Issue(Type::ERROR, floor, "' outline '" + poly->name + "' has too many edges"));}
if (poly->poly.points.size() < 3) {res.push_back(Issue(Type::ERR, floor, "' outline '" + poly->name + "' needs at least 3 edges"));}
if (poly->poly.points.size() > 1024) {res.push_back(Issue(Type::ERR, floor, "' outline '" + poly->name + "' has too many edges"));}
// outline size [bbox] valid?
BBox2 outline;
for (const Point2 pt : poly->poly.points) { outline.add(pt); }
const Point2 size = outline.getSize();
if (size.x < 1.0 || size.y < 1.0) {res.push_back(Issue(Type::ERROR, floor, "' outline '" + poly->name + "' seems too small"));}
if (size.x < 1.0 || size.y < 1.0) {res.push_back(Issue(Type::ERR, floor, "' outline '" + poly->name + "' seems too small"));}
}
@@ -143,7 +143,7 @@ namespace Floorplan {
if (door) {
const float len_m = door->from.getDistance(door->to);
if (len_m < 0.40) {
res.push_back(Issue(Type::ERROR, floor, "' door is too narrow: " + std::to_string(len_m) + " meter from " + door->from.asString() + " to " + door->to.asString()));
res.push_back(Issue(Type::ERR, floor, "' door is too narrow: " + std::to_string(len_m) + " meter from " + door->from.asString() + " to " + door->to.asString()));
}
}
@@ -152,7 +152,7 @@ namespace Floorplan {
if (circle) {
const float len_m = circle->radius;
if (len_m < 0.20) {
res.push_back(Issue(Type::ERROR, floor, "' pillar is too narrow: " + std::to_string(len_m) + " meter at " + circle->center.asString()));
res.push_back(Issue(Type::ERR, floor, "' pillar is too narrow: " + std::to_string(len_m) + " meter at " + circle->center.asString()));
}
}
@@ -162,7 +162,7 @@ namespace Floorplan {
const std::string note = "does it belong to a stair? if so: fine! Note: fingerprints are currently measured using smartphones and smartphone are held by the pedestian. thus: fingerprints are ~1.3 meter above ground";
if (fpl->heightAboveFloor < 0.8) {
res.push_back(Issue(Type::ERROR, floor, std::string() + "fingerprint " + fpl->name + " @ " + fpl->getPosition(*floor).asString() + " is too near to the floor. " + note));
res.push_back(Issue(Type::ERR, floor, std::string() + "fingerprint " + fpl->name + " @ " + fpl->getPosition(*floor).asString() + " is too near to the floor. " + note));
} else if (fpl->heightAboveFloor > 2.0) {
res.push_back(Issue(Type::WARN, floor, std::string() + "fingerprint " + fpl->name + " @ " + fpl->getPosition(*floor).asString() + " is too high above the floor. " + note));
}
@@ -179,7 +179,7 @@ namespace Floorplan {
}
if (stair->getParts().empty()) {
res.push_back(Issue(Type::ERROR, floor, "stair does not contain any parts! [empty stair]"));
res.push_back(Issue(Type::ERR, floor, "stair does not contain any parts! [empty stair]"));
return;
}
@@ -191,19 +191,19 @@ namespace Floorplan {
// start == end?
if (quadS.p1.z == quadE.p3.z) {
res.push_back(Issue(Type::ERROR, floor, "stair start and end must not belong to the same floor!"));
res.push_back(Issue(Type::ERR, floor, "stair start and end must not belong to the same floor!"));
}
// disconnected start? (MUST belong to the floor the stair is attached to)
if (quadS.p1.z != floor->getStartingZ()) {
res.push_back(Issue(Type::ERROR, floor, "stair is not connected to the starting floor's ground! [open stair start]"));
res.push_back(Issue(Type::ERR, floor, "stair is not connected to the starting floor's ground! [open stair start]"));
}
// disconnected end? (must be long to ANY other floor within the map)
//if (quadE.p3.z != floor->getEndingZ()) {
const int stairEndingZ_cm = std::round( quadE.p3.z * 100 );
if(std::find(floorAtHeight_cm.begin(), floorAtHeight_cm.end(), stairEndingZ_cm) == floorAtHeight_cm.end()) {
res.push_back(Issue(Type::ERROR, floor, "stair is not connected to the ending floor's ground! [open stair end]"));
res.push_back(Issue(Type::ERR, floor, "stair is not connected to the ending floor's ground! [open stair end]"));
}
@@ -214,7 +214,7 @@ namespace Floorplan {
// disconnected within?
if (i > 0) {
if (quads[i-1].p4.z != quads[i-0].p1.z) {
res.push_back(Issue(Type::ERROR, floor, "stair is disconnected within!"));
res.push_back(Issue(Type::ERR, floor, "stair is disconnected within!"));
}
}
@@ -225,15 +225,15 @@ namespace Floorplan {
static void checkElevator(Issues& res, const IndoorMap* map, const Floor* floor, const Elevator* e) {
if (e->depth < 0.5) {
res.push_back(Issue(Type::ERROR, floor, "elevator's @" + e->center.asString() + ": depth is too small: " + std::to_string(e->depth) + "m"));
res.push_back(Issue(Type::ERR, floor, "elevator's @" + e->center.asString() + ": depth is too small: " + std::to_string(e->depth) + "m"));
}
if (e->width < 0.5) {
res.push_back(Issue(Type::ERROR, floor, "elevator's @" + e->center.asString() + ": width is too small: " + std::to_string(e->width) + "m"));
res.push_back(Issue(Type::ERR, floor, "elevator's @" + e->center.asString() + ": width is too small: " + std::to_string(e->width) + "m"));
}
if (e->height_m < 0.1) {
res.push_back(Issue(Type::ERROR, floor, "elevator's @" + e->center.asString() + ": height is too small: " + std::to_string(e->height_m) + "m"));
res.push_back(Issue(Type::ERR, floor, "elevator's @" + e->center.asString() + ": height is too small: " + std::to_string(e->height_m) + "m"));
}
// list of all heights where there is a floor;
@@ -246,7 +246,7 @@ namespace Floorplan {
// disconnected end? (must be long to ANY other floor within the map)
const int elevEndZ_cm = std::round( (floor->getStartingZ() + e->height_m) * 100 );
if(std::find(floorAtHeight_cm.begin(), floorAtHeight_cm.end(), elevEndZ_cm) == floorAtHeight_cm.end()) {
res.push_back(Issue(Type::ERROR, floor, "elevator @" + e->center.asString() + " is not connected to the ending floor's ground! [open elevator end]"));
res.push_back(Issue(Type::ERR, floor, "elevator @" + e->center.asString() + " is not connected to the ending floor's ground! [open elevator end]"));
}
}

137
geo/GPCPolygon2.h Normal file
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@@ -0,0 +1,137 @@
#ifndef GPCPOLYGON2_H
#define GPCPOLYGON2_H
#include "../lib/gpc/gpc.cpp.h"
class GPCPolygon2 {
struct GPCPolygon : gpc_polygon {
GPCPolygon() {
num_contours = 0;
contour = nullptr;
hole = nullptr;
}
// no copy or move
GPCPolygon(const GPCPolygon& o) = delete;
GPCPolygon(GPCPolygon&& o) = delete;
~GPCPolygon() {
if (contour) {
gpc_free_polygon(this);
//free(contour->vertex); contour->vertex = nullptr;
}
free(contour); contour = nullptr;
free(hole); hole = nullptr;
}
GPCPolygon& operator = (const GPCPolygon& o) = delete;
GPCPolygon& operator = (GPCPolygon&& o) = delete;
};
private:
GPCPolygon state;
float z;
public:
GPCPolygon2() : z(0) {
;
}
GPCPolygon2(float z) : z(z) {
;
}
void add(const Floorplan::Polygon2& poly) {
GPCPolygon cur;
toGPC(poly, cur);
gpc_polygon_clip(GPC_UNION, &state, &cur, &state);
}
void remove(const Floorplan::Polygon2& poly) {
GPCPolygon cur;
toGPC(poly, cur);
gpc_polygon_clip(GPC_DIFF, &state, &cur, &state);
}
std::vector<std::vector<Point3>> get() {
gpc_tristrip res;
res.num_strips = 0;
res.strip = nullptr;
//res.strip = (gpc_vertex_list*) malloc(1024);
gpc_polygon_to_tristrip(&state, &res);
std::vector<std::vector<Point3>> trias;
for (int i = 0; i < res.num_strips; ++i) {
gpc_vertex_list lst = res.strip[i];
for (int j = 2; j < lst.num_vertices; ++j) {
std::vector<Point3> tria;
gpc_vertex& v1 = lst.vertex[j - 2];
gpc_vertex& v2 = lst.vertex[j - 1];
gpc_vertex& v3 = lst.vertex[j];
tria.push_back(Point3(v1.x, v1.y, z));
tria.push_back(Point3(v2.x, v2.y, z));
tria.push_back(Point3(v3.x, v3.y, z));
trias.push_back(tria);
}
}
gpc_free_tristrip(&res);
return std::move(trias);
}
std::vector<std::vector<Point3>> get(float z) {
gpc_tristrip res;
res.num_strips = 0;
res.strip = nullptr;
//res.strip = (gpc_vertex_list*) malloc(1024);
gpc_polygon_to_tristrip(&state, &res);
std::vector<std::vector<Point3>> trias;
for (int i = 0; i < res.num_strips; ++i) {
gpc_vertex_list lst = res.strip[i];
std::vector<Point3> tria;
for (int j = 0; j < lst.num_vertices; ++j) {
gpc_vertex& vert = lst.vertex[j];
Point3 p3(vert.x, vert.y, z);
tria.push_back(p3);
}
trias.push_back(tria);
}
gpc_free_tristrip(&res);
return std::move(trias);
}
private:
void toGPC(Floorplan::Polygon2 poly, GPCPolygon& result) {
std::vector<gpc_vertex> verts;
for (Point2 p2 : poly.points) {
gpc_vertex vert; vert.x = p2.x; vert.y = p2.y;
verts.push_back(vert);
}
gpc_vertex_list list;
list.num_vertices = verts.size();
list.vertex = verts.data();
gpc_add_contour(&result, &list, 0);
}
};
#endif

115
navMesh/NavMeshFactory.h
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@@ -7,6 +7,7 @@
#include "../floorplan/v2/FloorplanHelper.h"
#include "../geo/ConvexHull2.h"
#include "../geo/GPCPolygon2.h"
#include "../wifi/estimate/ray3/OBJPool.h"
#include "NavMesh.h"
@@ -15,121 +16,11 @@
#include "NavMeshType.h"
#include "NavMeshSettings.h"
#include "../lib/gpc/gpc.cpp.h"
#include "../lib/Recast/Recast.h"
#include <string.h> // memset
namespace NM {
class NavMeshPoly {
struct GPCPolygon : gpc_polygon {
GPCPolygon() {
num_contours = 0;
contour = nullptr;
hole = nullptr;
}
~GPCPolygon() {
if (contour) {
gpc_free_polygon(this);
//free(contour->vertex); contour->vertex = nullptr;
}
free(contour); contour = nullptr;
free(hole); hole = nullptr;
}
GPCPolygon& operator = (const GPCPolygon& o) = delete;
GPCPolygon& operator = (GPCPolygon& o) {
this->contour = o.contour;
this->hole = o.hole;
this->num_contours = o.num_contours;
o.contour = nullptr;
o.hole = nullptr;
return *this;
}
};
private:
GPCPolygon state;
float z;
public:
NavMeshPoly(float z) : z(z) {
;
}
void add(const Floorplan::Polygon2& poly) {
GPCPolygon cur = toGPC(poly);
gpc_polygon_clip(GPC_UNION, &state, &cur, &state);
}
void remove(const Floorplan::Polygon2& poly) {
GPCPolygon cur = toGPC(poly);
gpc_polygon_clip(GPC_DIFF, &state, &cur, &state);
}
std::vector<std::vector<Point3>> get() {
gpc_tristrip res;
res.num_strips = 0;
res.strip = nullptr;
//res.strip = (gpc_vertex_list*) malloc(1024);
gpc_polygon_to_tristrip(&state, &res);
std::vector<std::vector<Point3>> trias;
for (int i = 0; i < res.num_strips; ++i) {
gpc_vertex_list lst = res.strip[i];
for (int j = 2; j < lst.num_vertices; ++j) {
std::vector<Point3> tria;
gpc_vertex& v1 = lst.vertex[j-2];
gpc_vertex& v2 = lst.vertex[j-1];
gpc_vertex& v3 = lst.vertex[j];
tria.push_back(Point3(v1.x, v1.y, z));
tria.push_back(Point3(v2.x, v2.y, z));
tria.push_back(Point3(v3.x, v3.y, z));
trias.push_back(tria);
}
}
gpc_free_tristrip(&res);
return std::move(trias);
}
private:
GPCPolygon toGPC(Floorplan::Polygon2 poly) {
std::vector<gpc_vertex> verts;
for (Point2 p2 : poly.points) {
gpc_vertex vert; vert.x = p2.x; vert.y = p2.y;
verts.push_back(vert);
}
GPCPolygon gpol;
gpc_vertex_list list;
list.num_vertices = verts.size();
list.vertex = verts.data();
gpc_add_contour(&gpol, &list, 0);
return gpol;
}
};
struct TriangleIn {
Point3 p1;
Point3 p2;
@@ -233,7 +124,7 @@ namespace NM {
// if this is a to-be-added polygon, add it
if (poly->method == Floorplan::OutlineMethod::ADD) {
NavMeshPoly nmPoly(floor->atHeight);
GPCPolygon2 nmPoly(floor->atHeight);
nmPoly.add(poly->poly);
// get all other polygons of this floor, that are tagged as "remove" and remove them (many will be outside of the added polygon)
@@ -302,7 +193,7 @@ namespace NM {
{
// add (overlay) all doors for tagging them within the plan
NavMeshPoly nmDoors(floor->atHeight);
GPCPolygon2 nmDoors(floor->atHeight);
for (Floorplan::FloorObstacle* obs : floor->obstacles) {
Floorplan::FloorObstacleDoor* door = dynamic_cast<Floorplan::FloorObstacleDoor*>(obs);
if (door != nullptr) {

2
navMesh/NavMeshTriangle.h
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@@ -291,7 +291,7 @@ namespace NM {
/** perform some pre-calculations to speed things up */
void precompute() {
#warning "TODO, z buffer"
#pragma message "TODO, z buffer"
minZ = std::min(p1.z, std::min(p2.z, p3.z)) - 0.15; // TODO the builder does not align on the same height as we did
maxZ = std::max(p1.z, std::max(p2.z, p3.z)) + 0.15;

2
sensors/offline/FileReader.h
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@@ -28,7 +28,7 @@
#include "Sensors.h"
#include "Listener.h"
#warning "adjust to to use the new splitter for all parsers [gps, compass, etc. already do!]"
#pragma message "adjust to to use the new splitter for all parsers [gps, compass, etc. already do!]"
namespace Offline {

5
wifi/estimate/ray3/ModelFactory.h
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@@ -3,7 +3,8 @@
#include "../../../floorplan/v2/Floorplan.h"
#include "../../../geo/Triangle3.h"
#include "ModelFactoryHelper.h"
#include "../../../geo/GPCPolygon2.h"
#include "Obstacle3.h"
#include "Cube.h"
#include "Tube.h"
@@ -132,7 +133,7 @@ namespace Ray3D {
// process all "add" regions by type
// [this allows for overlaps of the same type]
std::unordered_map<std::string, Polygon> types;
std::unordered_map<std::string, GPCPolygon2> types;
for (Floorplan::FloorOutlinePolygon* fop : f->outline) {
if (fop->method == Floorplan::OutlineMethod::ADD) {
if (fop->outdoor) {

109
wifi/estimate/ray3/ModelFactoryHelper.h
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@@ -1,109 +0,0 @@
#ifndef MODELFACTORYHELPER_H
#define MODELFACTORYHELPER_H
#include <Indoor/floorplan/v2/Floorplan.h>
#include "../../../lib/gpc/gpc.h"
namespace Ray3D {
class Polygon {
struct GPCPolygon : gpc_polygon {
GPCPolygon() {
num_contours = 0;
contour = nullptr;
hole = nullptr;
}
~GPCPolygon() {
if (contour) {
gpc_free_polygon(this);
//free(contour->vertex); contour->vertex = nullptr;
}
free(contour); contour = nullptr;
free(hole); hole = nullptr;
}
GPCPolygon& operator = (const GPCPolygon& o) = delete;
GPCPolygon& operator = (GPCPolygon& o) {
this->contour = o.contour;
this->hole = o.hole;
this->num_contours = o.num_contours;
o.contour = nullptr;
o.hole = nullptr;
return *this;
}
};
private:
GPCPolygon state;
public:
void add(const Floorplan::Polygon2& poly) {
GPCPolygon cur = toGPC(poly);
//GPCPolygon out;
gpc_polygon_clip(GPC_UNION, &state, &cur, &state);
//state = out;
}
void remove(const Floorplan::Polygon2& poly) {
GPCPolygon cur = toGPC(poly);
//GPCPolygon out;
gpc_polygon_clip(GPC_DIFF, &state, &cur, &state);
//state = out;
}
std::vector<std::vector<Point3>> get(float z) {
gpc_tristrip res;
res.num_strips = 0;
res.strip = nullptr;
//res.strip = (gpc_vertex_list*) malloc(1024);
gpc_polygon_to_tristrip(&state, &res);
std::vector<std::vector<Point3>> trias;
for (int i = 0; i < res.num_strips; ++i) {
gpc_vertex_list lst = res.strip[i];
std::vector<Point3> tria;
for (int j = 0; j < lst.num_vertices; ++j) {
gpc_vertex& vert = lst.vertex[j];
Point3 p3(vert.x, vert.y, z);
tria.push_back(p3);
}
trias.push_back(tria);
}
gpc_free_tristrip(&res);
return std::move(trias);
}
private:
GPCPolygon toGPC(Floorplan::Polygon2 poly) {
std::vector<gpc_vertex> verts;
for (Point2 p2 : poly.points) {
gpc_vertex vert; vert.x = p2.x; vert.y = p2.y;
verts.push_back(vert);
}
GPCPolygon gpol;
gpc_vertex_list list;
list.num_vertices = verts.size();
list.vertex = verts.data();
gpc_add_contour(&gpol, &list, 0);
return gpol;
}
};
}
#endif // MODELFACTORYHELPER_H

5
wifi/estimate/ray3/OBJPool.h
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@@ -57,7 +57,6 @@ namespace Ray3D {
scanFolder(folder);
} catch (...) {;}
}
initDone = true;
}
@@ -89,9 +88,9 @@ namespace Ray3D {
}
for (std::experimental::filesystem::directory_entry entry : std::experimental::filesystem::directory_iterator(d)) {
const std::string absFile = entry.path().native();
const std::string absFile = entry.path().string();
if (endsWith(absFile, ".obj")) {
std::string name = entry.path().filename();
std::string name = entry.path().filename().string();
name = name.substr(0, name.length() - 4); // without extension
load(absFile, name);
}

2
wifi/estimate/ray3/OBJReader.h
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@@ -27,7 +27,7 @@ public:
/** one triangle */
struct Face {
VNT vnt[3];
Face(VNT v1, VNT v2, VNT v3) : vnt({v1,v2,v3}) {;}
Face(VNT v1, VNT v2, VNT v3) : vnt{v1,v2,v3} {;}
};
/** one object within the file */