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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
Download Patch File Download Diff File Expand all files Collapse all files
app/android/jni/point_cloud_drawable.cpp
+32 -9
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 +231,22 @@ const std::string kTextureMeshFragmentShader =
"uniform float uGainR;\n"
"uniform float uGainG;\n"
"uniform float uGainB;\n"
"uniform int uHideSeams;\n"
"varying vec3 vColor;\n"
"varying vec2 vTexCoord;\n"
"varying float vLightWeighting;\n"
""
"void main() {\n"
" vec4 textureColor = texture2D(uTexture, vTexCoord);\n"
" vec4 textureColor;\n"
" if(uHideSeams==1) {\n"
" if(vTexCoord.x>0.99 && vTexCoord.y>0.99) {\n"
" textureColor = vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
" } else {\n"
" textureColor = texture2D(uTexture, vTexCoord);\n"
" }\n"
" } else {\n"
" textureColor = texture2D(uTexture, vTexCoord) * vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
" }\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 +260,12 @@ 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);\n"
" float alpha = 1.0;\n"
" vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
" vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
@@ -1008,7 +1026,8 @@ void PointCloudDrawable::Render(
float nearClipPlane,
float farClipPlane,
bool packDepthToColorChannel,
bool wireFrame) const
bool wireFrame,
bool hideSeams) const
{
if(vertex_buffer_ && nPoints_ && visible_ && !shaderPrograms_.empty())
{
@@ -1127,12 +1146,16 @@ void PointCloudDrawable::Render(
attribute_texture = glGetAttribLocation(program, "aTexCoord");
glEnableVertexAttribArray(attribute_texture);
if(depthTexture == 0)
{
GLuint hideSeams_handle = glGetUniformLocation(program, "uHideSeams");
glUniform1i(hideSeams_handle, hideSeams?1:0);
}
}
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 +1167,7 @@ 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)));
}