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Added OBJ texture policy option (keep color on textureless polygons)

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This commit is contained in:
matlabbe
2025-03-09 21:14:50 -07:00
parent f2e5a3b8bd
commit 1b0cdaab2b
8 changed files with 96 additions and 15 deletions
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52
app/android/jni/RTABMapApp.cpp
View File

@@ -1467,6 +1467,24 @@ int RTABMapApp::Render()
optMesh_.normals.reset(new pcl::PointCloud<pcl::Normal>);
pcl::fromPCLPointCloud2(optTextureMesh_->cloud, *optMesh_.cloud);
pcl::fromPCLPointCloud2(optTextureMesh_->cloud, *optMesh_.normals);
bool hasColors = false;
for(unsigned int i=0; i<optTextureMesh_->cloud.fields.size(); ++i)
{
if(optTextureMesh_->cloud.fields[i].name.compare("rgb") == 0)
{
hasColors = true;
break;
}
}
if(!hasColors)
{
std::uint8_t r = 255, g = 255, b = 255; // White
std::uint32_t rgb = ((std::uint32_t)r << 16 | (std::uint32_t)g << 8 | (std::uint32_t)b);
for(size_t i=0; i<optMesh_.cloud->size(); ++i)
{
optMesh_.cloud->at(i).rgb = *reinterpret_cast<float*>(&rgb);
}
}
optMesh_.polygons = optTextureMesh_->tex_polygons[0];
if(optTextureMesh_->tex_coordinates.size())
{
@@ -3267,6 +3285,7 @@ bool RTABMapApp::exportMesh(
int optimizedMinClusterSize,
float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize,
int textureVertexColorPolicy,
bool blockRendering)
{
// make sure createdMeshes_ is not modified while exporting! We don't
@@ -3555,7 +3574,7 @@ bool RTABMapApp::exportMesh(
0,
mergedClouds,
optimizedColorRadius,
textureSize == 0,
!(textureSize > 0 && textureVertexColorPolicy == 0),
optimizedCleanWhitePolygons,
optimizedMinClusterSize);
@@ -3797,7 +3816,9 @@ bool RTABMapApp::exportMesh(
textureCount,
vertexToPixels,
true, 10.0f, true ,true, 0, 0, 0, false,
&progressionStatus_);
&progressionStatus_,
255,
textureVertexColorPolicy == 1);
LOGI("Merging %d textures... globalTextures=%dx%d", (int)textureMesh->tex_materials.size(),
globalTextures.cols, globalTextures.rows);
}
@@ -3838,9 +3859,28 @@ bool RTABMapApp::exportMesh(
}
else if(textureMesh->tex_materials.size())
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false).data()); // for database
bool hasColors = false;
for(unsigned int i=0; i<textureMesh->cloud.fields.size(); ++i)
{
if(textureMesh->cloud.fields[i].name.compare("rgb") == 0)
{
hasColors = true;
break;
}
}
cv::Mat cloudMat;
if(hasColors)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false).data()); // for database
}
else
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false).data()); // for database
}
// save in database
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(textureMesh->tex_polygons.size());
@@ -4243,7 +4283,7 @@ bool RTABMapApp::writeExportedMesh(const std::string & directory, const std::str
totalPolygons += textureMesh->tex_polygons[i].size();
}
LOGI("Saving obj (%d vertices, %d polygons) to %s.", (int)textureMesh->cloud.data.size()/textureMesh->cloud.point_step, totalPolygons, filePath.c_str());
success = pcl::io::saveOBJFile(filePath, *textureMesh) == 0;
success = rtabmap::util3d::saveOBJFile(filePath, *textureMesh) == 0;
if(success)
{

1
app/android/jni/RTABMapApp.h
View File

@@ -177,6 +177,7 @@ class RTABMapApp : public UEventsHandler {
int optimizedMinClusterSize,
float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize,
int textureVertexColorPolicy,
bool blockRendering);
bool postExportation(bool visualize);
bool writeExportedMesh(const std::string & directory, const std::string & name);

22
app/android/jni/point_cloud_drawable.cpp
View File

@@ -170,10 +170,12 @@ const std::string kTextureMeshVertexShader =
"precision highp float;\n"
"precision mediump int;\n"
"attribute vec3 aVertex;\n"
"attribute vec3 aColor;\n"
"attribute vec2 aTexCoord;\n"
"uniform mat4 uMVP;\n"
"varying vec3 vColor;\n"
"varying vec2 vTexCoord;\n"
"varying float vLightWeighting;\n"
@@ -187,12 +189,14 @@ const std::string kTextureMeshVertexShader =
" vTexCoord = aTexCoord;\n"
" }\n"
" vColor = aColor;\n"
" vLightWeighting = 1.0;\n"
"}\n";
const std::string kTextureMeshLightingVertexShader =
"precision highp float;\n"
"precision mediump int;\n"
"attribute vec3 aVertex;\n"
"attribute vec3 aColor;\n"
"attribute vec3 aNormal;\n"
"attribute vec2 aTexCoord;\n"
@@ -200,6 +204,7 @@ const std::string kTextureMeshLightingVertexShader =
"uniform mat3 uN;\n"
"uniform vec3 uLightingDirection;\n"
"varying vec3 vColor;\n"
"varying vec2 vTexCoord;\n"
"varying float vLightWeighting;\n"
@@ -213,6 +218,7 @@ const std::string kTextureMeshLightingVertexShader =
" vTexCoord = aTexCoord;\n"
" }\n"
" vColor = aColor;\n"
" vec3 transformedNormal = uN * aNormal;\n"
" vLightWeighting = max(dot(transformedNormal, uLightingDirection)*0.5+0.5, 0.0);\n"
" if(vLightWeighting<0.5) \n"
@@ -225,11 +231,12 @@ const std::string kTextureMeshFragmentShader =
"uniform float uGainR;\n"
"uniform float uGainG;\n"
"uniform float uGainB;\n"
"varying vec3 vColor;\n"
"varying vec2 vTexCoord;\n"
"varying float vLightWeighting;\n"
""
"void main() {\n"
" vec4 textureColor = texture2D(uTexture, vTexCoord);\n"
" vec4 textureColor = texture2D(uTexture, vTexCoord) * vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
" gl_FragColor = vec4(textureColor.r * uGainR * vLightWeighting, textureColor.g * uGainG * vLightWeighting, textureColor.b * uGainB * vLightWeighting, textureColor.a);\n"
"}\n";
const std::string kTextureMeshBlendingFragmentShader =
@@ -243,11 +250,12 @@ const std::string kTextureMeshBlendingFragmentShader =
"uniform vec2 uScreenScale;\n"
"uniform float uNearZ;\n"
"uniform float uFarZ;\n"
"varying vec3 vColor;\n"
"varying vec2 vTexCoord;\n"
"varying float vLightWeighting;\n"
""
"void main() {\n"
" vec4 textureColor = texture2D(uTexture, vTexCoord);\n"
" vec4 textureColor = texture2D(uTexture, vTexCoord) * vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
" float alpha = 1.0;\n"
" vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
" vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
@@ -1128,11 +1136,9 @@ void PointCloudDrawable::Render(
attribute_texture = glGetAttribLocation(program, "aTexCoord");
glEnableVertexAttribArray(attribute_texture);
}
else
{
attribute_color = glGetAttribLocation(program, "aColor");
glEnableVertexAttribArray(attribute_color);
}
attribute_color = glGetAttribLocation(program, "aColor");
glEnableVertexAttribArray(attribute_color);
}
tango_gl::util::CheckGlError("Pointcloud::Render() common");
@@ -1144,7 +1150,7 @@ void PointCloudDrawable::Render(
{
glVertexAttribPointer(attribute_texture, 2, GL_FLOAT, GL_FALSE, (hasNormals_?9:6)*sizeof(GLfloat), (GLvoid*) (4 * sizeof(GLfloat)));
}
else if(!packDepthToColorChannel)
if(!packDepthToColorChannel)
{
glVertexAttribPointer(attribute_color, 3, GL_UNSIGNED_BYTE, GL_TRUE, (hasNormals_?9:6)*sizeof(GLfloat), (GLvoid*) (3 * sizeof(GLfloat)));
}

3
app/ios/RTABMapApp/NativeWrapper.cpp
View File

@@ -150,11 +150,12 @@ bool exportMeshNative(
int optimizedMinClusterSize,
float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize,
int textureVertexColorPolicy,
bool blockRendering)
{
if(object)
{
return native(object)->exportMesh(cloudVoxelSize, regenerateCloud, meshing, textureSize, textureCount, normalK, optimized, optimizedVoxelSize, optimizedDepth, optimizedMaxPolygons, optimizedColorRadius, optimizedCleanWhitePolygons, optimizedMinClusterSize, optimizedMaxTextureDistance, optimizedMinTextureClusterSize, blockRendering);
return native(object)->exportMesh(cloudVoxelSize, regenerateCloud, meshing, textureSize, textureCount, normalK, optimized, optimizedVoxelSize, optimizedDepth, optimizedMaxPolygons, optimizedColorRadius, optimizedCleanWhitePolygons, optimizedMinClusterSize, optimizedMaxTextureDistance, optimizedMinTextureClusterSize, textureVertexColorPolicy, blockRendering);
}
else
{

1
app/ios/RTABMapApp/NativeWrapper.hpp
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@@ -55,6 +55,7 @@ bool exportMeshNative(
int optimizedMinClusterSize,
float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize,
int textureVertexColorPolicy,
bool blockRendering);
bool postExportationNative(const void *object, bool visualize);
bool writeExportedMeshNative(const void *object, const char * directory, const char * name);

2
app/ios/RTABMapApp/RTABMap.swift
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@@ -197,6 +197,7 @@ class RTABMap {
optimizedMinClusterSize: Int,
optimizedMaxTextureDistance: Float,
optimizedMinTextureClusterSize: Int,
textureVertexColorPolicy: Int,
blockRendering: Bool) -> Bool
{
return exportMeshNative(native_rtabmap,
@@ -215,6 +216,7 @@ class RTABMap {
Int32(optimizedMinClusterSize),
optimizedMaxTextureDistance,
Int32(optimizedMinTextureClusterSize),
Int32(textureVertexColorPolicy),
blockRendering)
}

2
app/ios/RTABMapApp/ViewController.swift
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@@ -1870,6 +1870,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
let optimizedColorRadius = defaults.float(forKey: "ColorRadius")
let optimizedCleanWhitePolygons = defaults.bool(forKey: "CleanMesh")
let optimizedMinClusterSize = defaults.integer(forKey: "PolygonFiltering")
let textureVertexColorPolicy = defaults.integer(forKey: "TextureVertexColorPolicy")
let blockRendering = false
var indicator: UIActivityIndicatorView?
@@ -1924,6 +1925,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
optimizedMinClusterSize: optimizedMinClusterSize,
optimizedMaxTextureDistance: maxTextureDistance,
optimizedMinTextureClusterSize: minTextureClusterSize,
textureVertexColorPolicy: textureVertexColorPolicy,
blockRendering: blockRendering)
}, completion:{

28
app/ios/Settings.bundle/Assembling.plist
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@@ -320,6 +320,34 @@
<key>DefaultValue</key>
<true/>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Standard OBJ format has colorless polygons where there is no texture. This policy can add color to vertex when exporting the OBJ.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Texture Vertex Color Policy</string>
<key>Key</key>
<string>TextureVertexColorPolicy</string>
<key>DefaultValue</key>
<integer>0</integer>
<key>Titles</key>
<array>
<string>Colorless (standard OBJ)</string>
<string>Keep color only on textureless polygons</string>
<string>Keep all color</string>
</array>
<key>Values</key>
<array>
<integer>0</integer>
<integer>1</integer>
<integer>2</integer>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>