modified lib GPC for header only
worked on 3d traytracing
This commit is contained in:
k-a-z-u
198
tests/geo/TestBVH.cpp
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198
tests/geo/TestBVH.cpp
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@@ -0,0 +1,198 @@
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#ifdef WITH_TESTS
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#include "../Tests.h"
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#include "../../geo/volume/BVH.h"
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#include "../../geo/volume/BVHDebug.h"
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#include "../../geo/BBox3.h"
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#include "../../floorplan/v2/Floorplan.h"
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#include "../../floorplan/v2/FloorplanReader.h"
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#include "../../wifi/estimate/ray3/ModelFactory.h"
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struct Wrapper {
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static std::vector<Point3> getVertices(const BBox3& bbox) {
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return {bbox.getMin(), bbox.getMax()};
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}
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static std::vector<Point3> getDebugLines(const BBox3& bbox) {
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Point3 p1(bbox.getMin().x, bbox.getMin().y, bbox.getMin().z);
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Point3 p2(bbox.getMax().x, bbox.getMin().y, bbox.getMin().z);
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Point3 p3(bbox.getMax().x, bbox.getMax().y, bbox.getMin().z);
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Point3 p4(bbox.getMin().x, bbox.getMax().y, bbox.getMin().z);
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Point3 p5(bbox.getMin().x, bbox.getMin().y, bbox.getMax().z);
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Point3 p6(bbox.getMax().x, bbox.getMin().y, bbox.getMax().z);
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Point3 p7(bbox.getMax().x, bbox.getMax().y, bbox.getMax().z);
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Point3 p8(bbox.getMin().x, bbox.getMax().y, bbox.getMax().z);
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std::vector<Point3> res;
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res.push_back(p1); res.push_back(p2);
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res.push_back(p2); res.push_back(p3);
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res.push_back(p3); res.push_back(p4);
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res.push_back(p4); res.push_back(p1);
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res.push_back(p5); res.push_back(p6);
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res.push_back(p6); res.push_back(p7);
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res.push_back(p7); res.push_back(p8);
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res.push_back(p8); res.push_back(p5);
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res.push_back(p1); res.push_back(p5);
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res.push_back(p2); res.push_back(p6);
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res.push_back(p3); res.push_back(p7);
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res.push_back(p4); res.push_back(p8);
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return res;
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}
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};
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struct WrapperObs3D {
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static std::vector<Point3> getVertices(const Obstacle3D& o) {
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std::vector<Point3> pts;
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for (const Triangle3& tria : o.triangles) {
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pts.push_back(tria.p1);
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pts.push_back(tria.p2);
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pts.push_back(tria.p3);
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}
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return pts;
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}
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static std::vector<Point3> getDebugLines(const Obstacle3D& o) {
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std::vector<Point3> pts;
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for (const Triangle3& tria : o.triangles) {
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pts.push_back(tria.p1); pts.push_back(tria.p2);
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pts.push_back(tria.p2); pts.push_back(tria.p3);
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pts.push_back(tria.p3); pts.push_back(tria.p1);
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}
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return pts;
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}
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};
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TEST(BVH, tree) {
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BVHDebug<BBox3, BoundingVolumeSphere, Wrapper> tree;
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BBox3 bb1(Point3(0,0,0), Point3(1,1,1));
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tree.add(bb1);
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BBox3 bb2(Point3(-1,-1,-1), Point3(0,0,0));
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tree.add(bb2);
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tree.optimize();
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tree.show();
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int i = 0; (void) i;
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}
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TEST(BVH, tree2) {
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BVHDebug<BBox3, BoundingVolumeSphere, Wrapper> tree;
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BBox3 bb1(Point3(0,0,0), Point3(1,1,1));
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tree.add(bb1);
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BBox3 bb2(Point3(-1,0,0), Point3(0,1,1));
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tree.add(bb2);
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tree.optimize();
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tree.show();
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int i = 0; (void) i;
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}
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TEST(BVH, tree3) {
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BVHDebug<BBox3, BoundingVolumeSphere, Wrapper> tree;
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BBox3 bb1 = BBox3::around(Point3(+0.5, +0.5, 0.0), Point3(0.25, 0.25, 0.25));
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tree.add(bb1);
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BBox3 bb2 = BBox3::around(Point3(-0.5, +0.5, 0.0), Point3(0.25, 0.25, 0.25));
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tree.add(bb2);
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BBox3 bb3 = BBox3::around(Point3(-0.0, +0.5, 0.0), Point3(0.36, 0.36, 0.36));
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tree.add(bb3);
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BBox3 bb4 = BBox3::around(Point3(-0.0, +0.0, 0.0), Point3(0.5, 0.5, 0.5));
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tree.add(bb4);
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tree.optimize(1);
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tree.show();
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tree.optimize(1);
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tree.show();
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tree.optimize(1);
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tree.show();
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int i = 0; (void) i;
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}
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TEST(BVH, treeMap) {
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std::string file = "/apps/SHL39.xml";
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Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(file);
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ModelFactory fac(map);
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fac.setExportCeilings(false);
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fac.setFloors({map->floors[3]});
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std::vector<Obstacle3D> obs = fac.triangulize();
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BVHDebug<Obstacle3D, BoundingVolumeSphere, WrapperObs3D> tree;
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for (const Obstacle3D& o : obs) {
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tree.add(o);
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}
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//tree.show(150);
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//int rounds = tree.optimize();
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for (int i = 0; i < 200; ++i) {
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tree.optimize(1);
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//if (i%3==0) {
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tree.show(250, false);
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//}
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}
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int i = 0; (void) i;
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}
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TEST(BVH, treeRandom) {
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BVHDebug<BBox3, BoundingVolumeSphere, Wrapper> tree;
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std::minstd_rand gen;
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std::uniform_real_distribution<float> dPos(-4.0, +4.0);
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std::uniform_real_distribution<float> dSize(+0.3, +1.0);
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for (int i = 0; i < 50; ++i) {
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const Point3 pos(dPos(gen), dPos(gen), dPos(gen));
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const Point3 size(dSize(gen), dSize(gen), dSize(gen));
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BBox3 bb = BBox3::around(pos, size);
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tree.add(bb);
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}
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tree.show();
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// for (int i = 0; i < 25; ++i) {
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// tree.optimize(1);
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// tree.show();
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// }
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int i = 0; (void) i;
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}
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#endif
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@@ -12,54 +12,87 @@ TEST(RayTrace3, test) {
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//Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(file);
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//Floorplan::AccessPoint* ap = map->floors[0]->accesspoints[0];
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std::string file = "/mnt/data/workspaces/IndoorMap/maps/SHL39.xml";
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std::string file = "/apps/SHL39.xml";
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Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(file);
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Floorplan::AccessPoint* ap = map->floors[0]->accesspoints[4];
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ModelFactory fac(map);
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std::ofstream outOBJ("/mnt/vm/map.obj");
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std::ofstream outOBJ("/tmp/vm/map.obj");
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outOBJ << fac.toOBJ();
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outOBJ.close();
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const int gs_cm = 100;
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const int gs_cm = 50;
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WiFiRaytrace3D rt(map, gs_cm, ap->pos);
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std::chrono::time_point<std::chrono::high_resolution_clock> start = std::chrono::high_resolution_clock::now();
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const DataMap3Signal& dms = rt.estimate();
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std::chrono::time_point<std::chrono::high_resolution_clock> end = std::chrono::high_resolution_clock::now();
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auto result = std::chrono::duration_cast<std::chrono::milliseconds>(end-start).count();
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std::cout << "it took: " << result << " msec" << std::endl;
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const char sep = ';';
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if (1 == 1) {
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std::ofstream out("/mnt/vm/rays.xyz.txt");
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auto lambda = [&] (const float x, const float y, const float z, const DataMap3SignalEntry& e) {
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const char sep = ' ';
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int lines = 0;
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const float min = -120;
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const float max = -40;
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float rssi = e.getMaxRSSI();
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if (rssi > max) {rssi = max;}
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std::stringstream tmp;
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if (rssi > -100) {
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const float v = ((rssi - min) / (max-min)) * 255;
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out
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<< x << sep << y << sep << z << sep
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<< v << sep << v << sep << v
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<< "\n";
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auto lambda = [&] (const float x, const float y, const float z, const DataMap3SignalEntry& e) {
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const float min = -120;
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const float max = -40;
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float rssi = e.getMaxRSSI();
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if (rssi > max) {rssi = max;}
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if (z < 1.0 || z > 1.0) {return;}
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if (rssi > -100) {
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++lines;
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const int v = ((rssi - min) / (max-min)) * 255; // color
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tmp
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<< x << sep << y << sep << z << sep
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<< v << sep << v << sep << v
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<< "\n";
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}
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};
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dms.forEach(lambda);
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std::ofstream out("/tmp/vm/grid.ply");
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out << "ply\n";
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out << "format ascii 1.0\n";
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out << "comment VCGLIB generated\n";
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out << "element vertex " << lines << "\n";
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out << "property float x\n";
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out << "property float y\n";
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out << "property float z\n";
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out << "property uchar red\n";
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out << "property uchar green\n";
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out << "property uchar blue\n";
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out << "element face 0\n";
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out << "property list uchar int vertex_indices\n";
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out << "end_header\n";
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out << tmp.str();
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out.close();
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std::cout << "lines: " << lines << std::endl;
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std::ofstream outHits("/tmp/vm/hits.xyz.txt");
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for (const Point3 hit : rt.getHitEnter()) {
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outHits << hit.x << sep << hit.y << sep << hit.z << sep << 0 << sep << 255 << sep << 0 << "\n";
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}
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};
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for (const Point3 hit : rt.getHitLeave()) {
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outHits << hit.x << sep << hit.y << sep << hit.z << sep << 0 << sep << 0 << sep << 255 << "\n";
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}
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for (const Point3 hit : rt.getHitStop()) {
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outHits << hit.x << sep << hit.y << sep << hit.z << sep << 0 << sep << 0 << sep << 0 << "\n";
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}
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outHits.close();
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dms.forEach(lambda);
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out.close();
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std::ofstream outHits("/mnt/vm/hits.xyz.txt");
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for (const Point3 hit : rt.getHitEnter()) {
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outHits << hit.x << sep << hit.y << sep << hit.z << sep << 0 << sep << 255 << sep << 0 << "\n";
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}
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for (const Point3 hit : rt.getHitLeave()) {
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outHits << hit.x << sep << hit.y << sep << hit.z << sep << 0 << sep << 0 << sep << 255 << "\n";
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}
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for (const Point3 hit : rt.getHitStop()) {
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outHits << hit.x << sep << hit.y << sep << hit.z << sep << 0 << sep << 0 << sep << 0 << "\n";
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}
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outHits.close();
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}
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