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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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guilib/src/CloudViewer.cpp
+55 -4
View File
@@ -80,6 +80,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <vtkObjectFactory.h>
#include <vtkQuad.h>
#include <vtkWarpScalar.h>
#include <vtkUnsignedCharArray.h>
#include <opencv/vtkImageMatSource.h>
#if VTK_MAJOR_VERSION >= 7
@@ -96,6 +97,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/global_map/OctoMap.h>
#endif
// For compatibility with new VTK generic data arrays.
#ifdef vtkGenericDataArray_h
#define InsertNextTupleValue InsertNextTypedTuple
#endif
namespace rtabmap {
CloudViewer::CloudViewer(QWidget *parent, CloudViewerInteractorStyle * style) :
@@ -124,6 +130,7 @@ CloudViewer::CloudViewer(QWidget *parent, CloudViewerInteractorStyle * style) :
_aSetLighting(0),
_aSetFlatShading(0),
_aSetEdgeVisibility(0),
_aSetScalarVisibility(0),
_aBackfaceCulling(0),
_menu(0),
_trajectory(new pcl::PointCloud<pcl::PointXYZ>),
@@ -347,6 +354,9 @@ void CloudViewer::createMenu()
_aSetEdgeVisibility = new QAction("Show edges", this);
_aSetEdgeVisibility->setCheckable(true);
_aSetEdgeVisibility->setChecked(false);
_aSetScalarVisibility = new QAction("Show vertex colors", this);
_aSetScalarVisibility->setCheckable(true);
_aSetScalarVisibility->setChecked(true);
_aBackfaceCulling = new QAction("Backface culling", this);
_aBackfaceCulling->setCheckable(true);
_aBackfaceCulling->setChecked(true);
@@ -408,6 +418,7 @@ void CloudViewer::createMenu()
_menu->addAction(_aSetLighting);
_menu->addAction(_aSetFlatShading);
_menu->addAction(_aSetEdgeVisibility);
_menu->addAction(_aSetScalarVisibility);
_menu->addAction(_aBackfaceCulling);
_menu->addAction(_aPolygonPicking);
}
@@ -1408,10 +1419,20 @@ bool CloudViewer::addTextureMesh (
// Create points from mesh.cloud
vtkSmartPointer<vtkPoints> poly_points = vtkSmartPointer<vtkPoints>::New ();
vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New ();
bool has_color = false;
colors->SetNumberOfComponents(3);
colors->SetName ("Colors");
bool hasColors = false;
for(unsigned int i=0; i<mesh.cloud.fields.size(); ++i)
{
if(mesh.cloud.fields[i].name.compare("rgb") == 0)
{
hasColors = true;
break;
}
}
vtkSmartPointer<vtkMatrix4x4> transformation = vtkSmartPointer<vtkMatrix4x4>::New ();
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB> ());
pcl::fromPCLPointCloud2 (mesh.cloud, *cloud);
// no points --> exit
if (cloud->points.size () == 0)
@@ -1423,8 +1444,17 @@ bool CloudViewer::addTextureMesh (
poly_points->SetNumberOfPoints (cloud->points.size ());
for (std::size_t i = 0; i < cloud->points.size (); ++i)
{
const pcl::PointXYZ &p = cloud->points[i];
const pcl::PointXYZRGB &p = cloud->points[i];
poly_points->InsertPoint (i, p.x, p.y, p.z);
if(hasColors) {
unsigned char color[3] = {p.r, p.g, p.b};
#if VTK_MAJOR_VERSION > 7 || (VTK_MAJOR_VERSION==7 && VTK_MINOR_VERSION >= 1)
colors->InsertNextTypedTuple(color);
#else
colors->InsertNextTupleValue(color);
#endif
}
}
//create polys from polyMesh.tex_polygons
@@ -1443,8 +1473,9 @@ bool CloudViewer::addTextureMesh (
vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
polydata->SetPolys (polys);
polydata->SetPoints (poly_points);
if (has_color)
if (hasColors) {
polydata->GetPointData()->SetScalars(colors);
}
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
#if VTK_MAJOR_VERSION < 6
@@ -1524,6 +1555,7 @@ bool CloudViewer::addTextureMesh (
actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
actor->GetMapper()->SetScalarVisibility(_aSetScalarVisibility->isChecked());
return true;
}
@@ -2892,6 +2924,21 @@ void CloudViewer::setEdgeVisibility(bool visible)
this->refreshView();
}
void CloudViewer::setScalarVisibility(bool visible)
{
_aSetScalarVisibility->setChecked(visible);
pcl::visualization::ShapeActorMapPtr shapeActorMap = _visualizer->getShapeActorMap();
for(pcl::visualization::ShapeActorMap::iterator iter=shapeActorMap->begin(); iter!=shapeActorMap->end(); ++iter)
{
vtkActor* actor = vtkActor::SafeDownCast (iter->second);
if(actor && _addedClouds.contains(iter->first))
{
actor->GetMapper()->SetScalarVisibility(_aSetScalarVisibility->isChecked());
}
}
this->refreshView();
}
void CloudViewer::setInteractorLayer(int layer)
{
_visualizer->getRendererCollection()->InitTraversal ();
@@ -3983,6 +4030,10 @@ void CloudViewer::handleAction(QAction * a)
{
this->setEdgeVisibility(_aSetEdgeVisibility->isChecked());
}
else if(a == _aSetScalarVisibility)
{
this->setScalarVisibility(_aSetScalarVisibility->isChecked());
}
else if(a == _aBackfaceCulling)
{
this->setBackfaceCulling(_aBackfaceCulling->isChecked(), _frontfaceCulling);