i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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
View File

@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -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>