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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
corelib/include/rtabmap/core/impl/util3d_surface.hpp
+10 -17
View File
@@ -151,7 +151,10 @@ void denseMeshPostProcessing(
coloredPts.at(i) = false;
}
}
pcl::toPCLPointCloud2(*coloredCloud, mesh->cloud);
if(coloredOutput) {
pcl::toPCLPointCloud2(*coloredCloud, mesh->cloud);
hasColors = true;
}
// remove polygons with no color
if(cleanMesh)
@@ -177,7 +180,6 @@ void denseMeshPostProcessing(
filteredPolygons.resize(oi);
mesh->polygons = filteredPolygons;
}
hasColors = true;
}
if(minClusterSize)
@@ -238,11 +240,11 @@ void denseMeshPostProcessing(
if(progressState) progressState->callback(uFormat("Filtered %d polygons.", before-(int)mesh->polygons.size()));
}
// compute normals for the mesh if not already here, add also white color if colored output is required
if(!hasNormals || (!hasColors && coloredOutput))
// compute normals for the mesh if not already here
if(!hasNormals)
{
// use polygons
if(hasColors || coloredOutput)
if(hasColors)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::fromPCLPointCloud2(mesh->cloud, *cloud);
@@ -269,18 +271,9 @@ void denseMeshPostProcessing(
// flat normal (per face)
for(unsigned int j=0; j<v.vertices.size(); ++j)
{
if(!hasNormals)
{
cloud->at(v.vertices[j]).normal_x = normal[0];
cloud->at(v.vertices[j]).normal_y = normal[1];
cloud->at(v.vertices[j]).normal_z = normal[2];
}
if(!hasColors)
{
cloud->at(v.vertices[j]).r = 255;
cloud->at(v.vertices[j]).g = 255;
cloud->at(v.vertices[j]).b = 255;
}
cloud->at(v.vertices[j]).normal_x = normal[0];
cloud->at(v.vertices[j]).normal_y = normal[1];
cloud->at(v.vertices[j]).normal_z = normal[2];
}
}
pcl::toPCLPointCloud2 (*cloud, mesh->cloud);
corelib/include/rtabmap/core/util3d_surface.h
+11
View File
@@ -225,6 +225,7 @@ cv::Mat RTABMAP_CORE_EXPORT mergeTextures(
bool exposureFusion = false, //Exposure fusion can be used only with OpenCV3
const ProgressState * state = 0,
unsigned char blankValue = 255, //Gray value for blank polygons (without texture)
bool clearVertexColorUnderTexture = true,
std::map<int, std::map<int, cv::Vec4d> > * gains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B>
std::map<int, std::map<int, cv::Mat> > * blendingGains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains>
std::pair<float, float> * contrastValues = 0); // Alpha/beta contrast values
@@ -247,6 +248,7 @@ cv::Mat RTABMAP_CORE_EXPORT mergeTextures(
bool exposureFusion = false, //Exposure fusion can be used only with OpenCV3
const ProgressState * state = 0,
unsigned char blankValue = 255, //Gray value for blank polygons (without texture)
bool clearVertexColorUnderTexture = true,
std::map<int, std::map<int, cv::Vec4d> > * gains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B>
std::map<int, std::map<int, cv::Mat> > * blendingGains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains>
std::pair<float, float> * contrastValues = 0); // Alpha/beta contrast values
@@ -586,6 +588,15 @@ bool intersectRayMesh(
Eigen::Vector3f & normal,
int & index);
int RTABMAP_CORE_EXPORT saveOBJFile(
const std::string &file_name,
const pcl::TextureMesh &tex_mesh,
unsigned precision = 5);
int RTABMAP_CORE_EXPORT saveOBJFile(
const std::string &file_name,
const pcl::PolygonMesh &mesh,
unsigned precision = 5);
} // namespace util3d
} // namespace rtabmap