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

Assertions.h

@@ -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);

floorplan/v2/FloorplanLINT.h

@@ -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() < 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::ERROR, floor, "' outline '" + poly->name + "' has too many 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]"));
 			}
 
 		}

geo/GPCPolygon2.h

@@ -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

navMesh/NavMeshFactory.h

@@ -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) {

navMesh/NavMeshTriangle.h

@@ -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;
 

sensors/offline/FileReader.h

@@ -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 {
 

wifi/estimate/ray3/ModelFactory.h

@@ -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) {

wifi/estimate/ray3/ModelFactoryHelper.h

@@ -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

wifi/estimate/ray3/OBJPool.h

@@ -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);
 				}

wifi/estimate/ray3/OBJReader.h

@@ -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 */