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setup for 2D and 3D raytracing
This commit is contained in:
kazu
2017-09-13 08:04:56 +02:00
parent ba0622e788
commit c9e425ec96
5 changed files with 322 additions and 0 deletions
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90
code/CMakeLists.txt Normal file
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# Usage:
# Create build folder, like RC-build next to RobotControl and WifiScan folder
# CD into build folder and execute 'cmake -DCMAKE_BUILD_TYPE=Debug ../RobotControl'
# make
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
# select build type
SET( CMAKE_BUILD_TYPE "${CMAKE_BUILD_TYPE}" )
PROJECT(Raytrace)
IF(NOT CMAKE_BUILD_TYPE)
MESSAGE(STATUS "No build type selected. Default to Debug")
SET(CMAKE_BUILD_TYPE "Debug")
ENDIF()
INCLUDE_DIRECTORIES(
../
/mnt/data/workspaces/
)
FILE(GLOB HEADERS
./*.h
./*/*.h
./*/*/*.h
./*/*/*/*.h
./*/*/*/*/*.h
./*/*/*/*/*/*.h
./tests/data/*
./tests/data/*/*
./tests/data/*/*/*
)
FILE(GLOB SOURCES
./*.cpp
./*/*.cpp
./*/*/*.cpp
./*/*/*/*.cpp
/mnt/data/workspaces/Indoor/lib/tinyxml/tinyxml2.cpp
)
# use openMP
find_package(OpenMP REQUIRED)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fopenmp")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
# system specific compiler flags
ADD_DEFINITIONS(
-std=gnu++11
-Wall
-Werror=return-type
-Wextra
-Wpedantic
-fstack-protector-all
-g3
-O2
-march=native
-DWITH_TESTS
-DWITH_ASSERTIONS
-DWITH_DEBUG_LOG
)
# build a binary file
ADD_EXECUTABLE(
${PROJECT_NAME}
${HEADERS}
${SOURCES}
)
# needed external libraries
TARGET_LINK_LIBRARIES(
${PROJECT_NAME}
gtest
pthread
)

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code/main.cpp Normal file
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#include "ray2.h"
#include "ray3.h"
int main(void) {
//ray3();
ray2();
}

18
code/misc.h Normal file
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#ifndef MISC_H
#define MISC_H
#include <Indoor/floorplan/v2/FloorplanReader.h>
#include <Indoor/wifi/estimate/ray3/ModelFactory.h>
#include <string>
#include <fstream>
void writeMap3(const Floorplan::IndoorMap* map, const std::string& file) {
ModelFactory fac(map);
std::ofstream outOBJ(file);
outOBJ << fac.toOBJ();
outOBJ.close();
}
#endif // MISC_H

101
code/ray2.h Normal file
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#ifndef RAY2_H
#define RAY2_H
#include "misc.h"
#include <Indoor/wifi/estimate/ray2d/WiFiRayTrace2D.h>
#include <Indoor/floorplan/v2/FloorplanReader.h>
#include <fstream>
void dumpRay2(const WiFiRaytrace2D& rt, const DataMapSignal& dms);
void ray2() {
//std::string file = "/mnt/data/workspaces/raytest2.xml";
//Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(file);
//Floorplan::AccessPoint* ap = map->floors[0]->accesspoints[0];
//std::string file = "/apps/SHL39.xml";
std::string file = "/mnt/data/workspaces/IndoorMap/maps/SHL39.xml";
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(file);
Floorplan::Floor* floor = map->floors[0];
Floorplan::AccessPoint* ap = floor->accesspoints[4];
const int gs_cm = 50;
WiFiRaytrace2D rt(floor, gs_cm, ap->pos.xy());
std::chrono::time_point<std::chrono::high_resolution_clock> start = std::chrono::high_resolution_clock::now();
const DataMapSignal& dms = rt.estimate();
std::chrono::time_point<std::chrono::high_resolution_clock> end = std::chrono::high_resolution_clock::now();
auto result = std::chrono::duration_cast<std::chrono::milliseconds>(end-start).count();
std::cout << "it took: " << result << " msec" << std::endl;
if (1 == 1) {dumpRay2(rt, dms);}
}
void dumpRay2(const WiFiRaytrace2D& rt, const DataMapSignal& dms) {
const char sep = ' ';
int lines = 0;
std::stringstream tmp;
auto lambda = [&] (const float x, const float y, const DataMapSignalEntry& e) {
const float min = -120;
const float max = -40;
float rssi = e.getMaxRSSI();
if (rssi > max) {rssi = max;}
if (rssi > -100) {
++lines;
const int v = ((rssi - min) / (max-min)) * 255; // color
tmp
<< x << sep << y << sep
<< v << sep << v << sep << v
<< "\n";
}
};
dms.forEach(lambda);
/*
std::ofstream out("/tmp/vm/grid.ply");
out << "ply\n";
out << "format ascii 1.0\n";
out << "comment VCGLIB generated\n";
out << "element vertex " << lines << "\n";
out << "property float x\n";
out << "property float y\n";
out << "property float z\n";
out << "property uchar red\n";
out << "property uchar green\n";
out << "property uchar blue\n";
out << "element face 0\n";
out << "property list uchar int vertex_indices\n";
out << "end_header\n";
out << tmp.str();
out.close();
*/
std::cout << "lines: " << lines << std::endl;
/*
std::ofstream outHits("/tmp/vm/hits.xyz.txt");
for (const Point3 hit : rt.getHitEnter()) {
outHits << hit.x << sep << hit.y << sep << hit.z << sep << 0 << sep << 255 << sep << 0 << "\n";
}
for (const Point3 hit : rt.getHitLeave()) {
outHits << hit.x << sep << hit.y << sep << hit.z << sep << 0 << sep << 0 << sep << 255 << "\n";
}
for (const Point3 hit : rt.getHitStop()) {
outHits << hit.x << sep << hit.y << sep << hit.z << sep << 0 << sep << 0 << sep << 0 << "\n";
}
outHits.close();
*/
}
#endif // RAY2_H

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code/ray3.h Normal file
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#ifndef RAY3_H
#define RAY3_H
#include <Indoor/wifi/estimate/ray3/WifiRayTrace3D.h>
#include <Indoor/floorplan/v2/FloorplanReader.h>
#include <fstream>
#include "misc.h"
void dumpRay3(const WiFiRaytrace3D& rt, const DataMap3Signal& dms);
void ray3() {
//std::string file = "/mnt/data/workspaces/raytest2.xml";
//Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(file);
//Floorplan::AccessPoint* ap = map->floors[0]->accesspoints[0];
//std::string file = "/apps/SHL39.xml";
std::string file = "/mnt/data/workspaces/IndoorMap/maps/SHL39.xml";
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(file);
Floorplan::AccessPoint* ap = map->floors[0]->accesspoints[4];
writeMap3(map, "/tmp/vm/map.obj");
const int gs_cm = 50;
WiFiRaytrace3D rt(map, gs_cm, ap->pos);
std::chrono::time_point<std::chrono::high_resolution_clock> start = std::chrono::high_resolution_clock::now();
const DataMap3Signal& dms = rt.estimate();
std::chrono::time_point<std::chrono::high_resolution_clock> end = std::chrono::high_resolution_clock::now();
auto result = std::chrono::duration_cast<std::chrono::milliseconds>(end-start).count();
std::cout << "it took: " << result << " msec" << std::endl;
if (1 == 1) {dumpRay3(rt, dms);}
}
void dumpRay3(const WiFiRaytrace3D& rt, const DataMap3Signal& dms) {
const char sep = ' ';
int lines = 0;
std::stringstream tmp;
auto lambda = [&] (const float x, const float y, const float z, const DataMap3SignalEntry& e) {
const float min = -120;
const float max = -40;
float rssi = e.getMaxRSSI();
if (rssi > max) {rssi = max;}
if (z < 1.0 || z > 1.0) {return;}
if (rssi > -100) {
++lines;
const int v = ((rssi - min) / (max-min)) * 255; // color
tmp
<< x << sep << y << sep << z << sep
<< v << sep << v << sep << v
<< "\n";
}
};
dms.forEach(lambda);
std::ofstream out("/tmp/vm/grid.ply");
out << "ply\n";
out << "format ascii 1.0\n";
out << "comment VCGLIB generated\n";
out << "element vertex " << lines << "\n";
out << "property float x\n";
out << "property float y\n";
out << "property float z\n";
out << "property uchar red\n";
out << "property uchar green\n";
out << "property uchar blue\n";
out << "element face 0\n";
out << "property list uchar int vertex_indices\n";
out << "end_header\n";
out << tmp.str();
out.close();
std::cout << "lines: " << lines << std::endl;
std::ofstream outHits("/tmp/vm/hits.xyz.txt");
for (const Point3 hit : rt.getHitEnter()) {
outHits << hit.x << sep << hit.y << sep << hit.z << sep << 0 << sep << 255 << sep << 0 << "\n";
}
for (const Point3 hit : rt.getHitLeave()) {
outHits << hit.x << sep << hit.y << sep << hit.z << sep << 0 << sep << 0 << sep << 255 << "\n";
}
for (const Point3 hit : rt.getHitStop()) {
outHits << hit.x << sep << hit.y << sep << hit.z << sep << 0 << sep << 0 << sep << 0 << "\n";
}
outHits.close();
}
#endif // RAY3_H