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iOS feb 2025 various updates (#1451)

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* Using shadows on all texts and icons to see them better when background is white. Buffering database previews to show faster the Library. Updated how RAM usage is computed and now show max memory. Added warnings when RAM usage is low.

* Added measuring tool

* fixed map not shown when closing visualization

* Added measure text size setting, changed look and feel of point to point

* Fixed measuring point not showing

* Added fix for #1401

* Addressing #1407

* Export: Added colored OBJ options

* fixed index_t not existing on focal

* Fixed Settings not applied after restoring to all default settings witohut restarting the app (Marker detection not working issue #1455 )

* Marker detection: Fixing wrong depth used when rgb and depth image sizes cannot be divided exactly one from the the other #1455

* Added Marker Max Range option (default 1m)

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

* Added texture/color blending option directly in the app. Added LAZ export option.

* Hiding measuring button if not mesh, dont zip if exporting to laz, updating Export XXX button based on the current context, fixed always blending texture/color on not visualization mode

* updated default marker max range to 2m

* bump ios app version

* fixing pcl 1.8.1 build

* fixed android build
This commit is contained in:
matlabbe
2025-03-15 10:58:03 -07:00
committed by GitHub
parent f329ebd42b
commit 28dbf1c98a
40 changed files with 3436 additions and 489 deletions
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33
app/android/jni/RTABMapApp.h
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@@ -48,6 +48,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/pcl_base.h>
#include <pcl/TextureMesh.h>
#include "Measure.h"
// RTABMapApp handles the application lifecycle and resources.
class RTABMapApp : public UEventsHandler {
@@ -84,7 +85,7 @@ class RTABMapApp : public UEventsHandler {
#ifdef __ANDROID__
bool startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver);
#else // __APPLE__
bool startCamera();
bool startCamera();
#endif
// Allocate OpenGL resources for rendering, mainly for initializing the Scene.
void InitializeGLContent();
@@ -127,6 +128,7 @@ class RTABMapApp : public UEventsHandler {
void setLighting(bool enabled);
void setBackfaceCulling(bool enabled);
void setWireframe(bool enabled);
void setTextureColorSeamsHidden(bool hidden);
void setLocalizationMode(bool enabled);
void setTrajectoryMode(bool enabled);
void setGraphOptimization(bool enabled);
@@ -176,10 +178,19 @@ 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);
int postProcessing(int approach);
void clearMeasures();
void showMeasures(bool x, bool y, bool z, bool custom);
void setMeasuringMode(int mode);
void addMeasureButtonClicked();
void teleportButtonClicked();
void removeMeasure();
void setMetricSystem(bool enabled);
void setMeasuringTextSize(float size);
void postOdometryEvent(
rtabmap::Transform pose,
@@ -203,6 +214,7 @@ class RTABMapApp : public UEventsHandler {
private:
int updateMeshDecimation(int width, int height);
rtabmap::ParametersMap getRtabmapParameters();
void updateMeasuringState();
bool smoothMesh(int id, rtabmap::Mesh & mesh);
void gainCompensation(bool full = false);
std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
@@ -264,11 +276,26 @@ class RTABMapApp : public UEventsHandler {
bool visualizingMesh_;
bool exportedMeshUpdated_;
pcl::TextureMesh::Ptr optMesh_;
pcl::TextureMesh::Ptr optTextureMesh_;
cv::Mat optTexture_;
rtabmap::Mesh optMesh_;
int optRefId_;
rtabmap::Transform * optRefPose_; // App crashes when loading native library if not dynamic
std::list<Measure> measures_; // In opengl frame
bool measuresUpdated_;
bool metricSystem_;
float measuringTextSize_;
float snapAxisThr_;
std::vector<cv::Vec3f> snapAxes_;
int measuringMode_;
bool addMeasureClicked_;
bool teleportClicked_;
bool removeMeasureClicked_;
std::vector<cv::Point3f> measuringTmpPts_; // In opengl frame
std::vector<cv::Point3f> measuringTmpNormals_; // In opengl frame
pcl::PointCloud<pcl::PointXYZRGB>::Ptr targetPoint_;
pcl::PointCloud<pcl::PointXYZ>::Ptr quadSample_;
std::vector<pcl::Vertices> quadSamplePolygons_;
// main_scene_ includes all drawable object for visualizing Tango device's
// movement and point cloud.
Scene main_scene_;