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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

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This commit is contained in:
matlabbe
2025-03-11 22:04:49 -07:00
parent fe5fa434c0
commit 5067dc5be0
3 changed files with 63 additions and 16 deletions
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app/ios/RTABMapApp/ViewController.swift
+61 -14
View File
@@ -105,6 +105,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
private var lowMemoryWarningShown: Bool = false
static var previewImages: [String: UIImage] = [:]
private var measuringMode: Int = 0
private var visualizationType: Int = 0 // 0=Cloud, 1=Mesh, 2=Texture Mesh
@IBOutlet weak var stopButton: UIButton!
@IBOutlet weak var recordButton: UIButton!
@@ -324,14 +325,17 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
{
if(optimizedMeshDetected==1)
{
self.visualizationType = 0;
self.setMeshRendering(viewMode: 0)
}
else if(optimizedMeshDetected==2)
{
self.visualizationType = 1;
self.setMeshRendering(viewMode: 1)
}
else // isOBJ
{
self.visualizationType = 2;
self.setMeshRendering(viewMode: 2)
}
@@ -555,6 +559,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
@objc func appMovedToForeground() {
print("appMovedToForeground()")
updateDisplayFromDefaults()
updateState(state: mState)
if(mMapNodes > 0 && self.openedDatabasePath == nil)
{
@@ -792,7 +797,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
teleportButton.isHidden = true
addMeasureButton.isHidden = true
removeMeasureButton.isHidden = true
measuringModeButton.isHidden = !mHudVisible
measuringModeButton.isHidden = !mHudVisible || self.visualizationType==0
actionNewScanEnabled = true
actionNewDataRecording = true
actionSaveEnabled = mMapNodes>0
@@ -841,7 +846,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
{
view?.enableSetNeedsDisplay = false
self.isPaused = false
print("diaableSetNeedsDisplay")
print("disableSetNeedsDisplay")
}
if !self.isPaused {
@@ -850,6 +855,23 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
// Update menus based on current state
if(!exportOBJPLYButton.isHidden) {
let format = UserDefaults.standard.string(forKey: "ExportPointCloudFormat")!;
var title = "Export "
if (self.visualizationType == 2) {
title += "OBJ";
}
else if (self.visualizationType == 1)
{
title += "PLY";
}
else
{
title += format == "las" ? "LAS" : format == "laz" ? "LAZ" : "PLY";
}
self.exportOBJPLYButton.setTitle(title, for: .normal)
}
// PointCloud menu
let pointCloudMenu = UIMenu(title: "Point cloud...", children: [
UIAction(title: "Current Density", handler: { _ in
@@ -1555,10 +1577,8 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
let bgColor = defaults.float(forKey: "BackgroundColor");
rtabmap!.setBackgroundColor(gray: bgColor);
let format = defaults.string(forKey: "ExportPointCloudFormat")!;
DispatchQueue.main.async {
self.statusLabel.textColor = bgColor>=0.6 ? UIColor(white: 0.0, alpha: 1) : UIColor(white: 1.0, alpha: 1)
self.exportOBJPLYButton.setTitle("Export OBJ-\(format == "las" ? "LAS" : format == "laz" ? "LAZ" : "PLY")", for: .normal)
}
rtabmap!.setClusterRatio(value: defaults.float(forKey: "NoiseFilteringRatio"));
@@ -1952,14 +1972,17 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
if(!meshing)
{
self.visualizationType = 0;
self.setMeshRendering(viewMode: 0)
}
else if(!isOBJ)
{
self.visualizationType = 1;
self.setMeshRendering(viewMode: 1)
}
else // isOBJ
{
self.visualizationType = 2;
self.setMeshRendering(viewMode: 2)
}
@@ -2178,6 +2201,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
}
else {
if(status >= 1 && status<=3) {
self.visualizationType = status-1;
self.updateState(state: .STATE_VISUALIZING);
self.resetNoTouchTimer(true);
}
@@ -2273,10 +2297,10 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
if textField.text != "" {
self.dismiss(animated: true)
//Read TextFields text data
let fileName = textField.text!+".zip"
let fileName = textField.text! + (self.exportOBJPLYButton.title(for: .normal)!.contains("LAZ") ? ".laz" : ".zip")
let filePath = self.getDocumentDirectory().appendingPathComponent(fileName).path
if FileManager.default.fileExists(atPath: filePath) {
let alert = UIAlertController(title: "File Already Exists", message: "Do you want to overwrite the existing file?", preferredStyle: .alert)
let alert = UIAlertController(title: "File Already Exists", message: "\(fileName) already exists, do you want to overwrite it?", preferredStyle: .alert)
let yes = UIAlertAction(title: "Yes", style: .default) {
(UIAlertAction) -> Void in
self.writeExportedFiles(fileName: textField.text!);
@@ -2323,7 +2347,9 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
func writeExportedFiles(fileName: String)
{
let alertView = UIAlertController(title: "Exporting", message: "Please wait while zipping data to \(fileName+".zip")...", preferredStyle: .alert)
let isLAZ = self.visualizationType==0 && self.exportOBJPLYButton.title(for: .normal)!.contains("LAZ")
let alertView = UIAlertController(title: "Exporting", message: "Please wait while exporting data to \(fileName+(isLAZ ? ".laz" : ".zip"))...", preferredStyle: .alert)
alertView.addAction(UIAlertAction(title: "Cancel", style: .cancel, handler: { _ in
self.dismiss(animated: true)
self.progressView = nil
@@ -2370,13 +2396,34 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
let fileURLs = try FileManager.default.contentsOfDirectory(at: exportDir, includingPropertiesForKeys: nil)
if(!fileURLs.isEmpty)
{
do {
zipFileUrl = try Zip.quickZipFiles(fileURLs, fileName: fileName) // Zip
print("Zip file \(zipFileUrl.path) created (size=\(zipFileUrl.fileSizeString)")
success = true
if(isLAZ)
{
zipFileUrl = self.getDocumentDirectory().appendingPathComponent(fileName+".laz")
do {
if FileManager.default.fileExists(atPath: zipFileUrl.path)
{
try FileManager.default.removeItem(at: zipFileUrl)
}
try FileManager.default.moveItem(at: fileURLs.first!, to: zipFileUrl)
print("LAZ file \(zipFileUrl.path) created (size=\(zipFileUrl.fileSizeString)")
success = true
}
catch
{
print("Failed moving \(fileURLs.first!) to \(zipFileUrl.path)")
return
}
}
catch {
print("Something went wrong while zipping")
else
{
do {
zipFileUrl = try Zip.quickZipFiles(fileURLs, fileName: fileName) // Zip
print("Zip file \(zipFileUrl.path) created (size=\(zipFileUrl.fileSizeString)")
success = true
}
catch {
print("Something went wrong while zipping")
}
}
}
} catch {
@@ -2392,7 +2439,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
}
if(success)
{
let alertShare = UIAlertController(title: "Mesh/Cloud Saved!", message: "\(fileName+".zip") (\(zipFileUrl.fileSizeString) successfully exported in Documents of RTAB-Map! Share it?", preferredStyle: .alert)
let alertShare = UIAlertController(title: "Mesh/Cloud Saved!", message: "\(fileName+(isLAZ ? ".laz" : ".zip")) (\(zipFileUrl.fileSizeString) successfully exported in Documents of RTAB-Map! Share it?", preferredStyle: .alert)
let alertActionYes = UIAlertAction(title: "Yes", style: .default) {
(UIAlertAction) -> Void in
self.shareFile(zipFileUrl)