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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)));
}