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Tango: fixed sketchfab export ply error, exported objs are now rotated -90deg x-axis by default for sketchfab

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This commit is contained in:
matlabbe
2017-06-16 16:24:38 -04:00
parent 8787ecceb8
commit 52a6cc5bad
4 changed files with 55 additions and 47 deletions
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7
app/android/jni/RTABMapApp.cpp
View File

@@ -2480,8 +2480,15 @@ bool RTABMapApp::exportMesh(
}
else if(textureMesh->tex_materials.size())
{
// With Sketchfab, the OBJ models are rotated 90 degrees on x axis, so rotate -90 to have model in right position
pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
pcl::PCLPointCloud2 tmp = textureMesh->cloud;
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::Transform(1,0,0,0, 0,0,1,0, 0,-1,0,0));
pcl::toPCLPointCloud2(*cloud, textureMesh->cloud);
LOGI("Saving obj (%d vertices, %d polygons) to %s.", (int)textureMesh->cloud.data.size()/textureMesh->cloud.point_step, totalPolygons, filePath.c_str());
success = pcl::io::saveOBJFile(filePath, *textureMesh) == 0;
textureMesh->cloud = tmp;
if(success)
{
LOGI("Saved obj to %s!", filePath.c_str());

41
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

@@ -1168,41 +1168,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private RTABMapActivity getActivity() {return this;}
private String[] loadFileList(String directory, final boolean databasesOnly) {
File path = new File(directory);
String fileList[];
try {
path.mkdirs();
}
catch(SecurityException e) {
Log.e(TAG, "unable to write on the sd card " + e.toString());
}
if(path.exists()) {
FilenameFilter filter = new FilenameFilter() {
@Override
public boolean accept(File dir, String filename) {
File sel = new File(dir, filename);
if(databasesOnly)
{
return filename.compareTo(RTABMAP_TMP_DB) != 0 && filename.endsWith(".db");
}
else
{
return sel.isFile();
}
}
};
fileList = path.list(filter);
Arrays.sort(fileList);
}
else {
fileList = new String[0];
}
return fileList;
}
private void standardOptimization() {
mExportProgressDialog.setTitle("Post-Processing");
mExportProgressDialog.setMessage(String.format("Please wait while optimizing..."));
@@ -1800,7 +1765,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
else if(itemId == R.id.open)
{
final String[] files = loadFileList(mWorkingDirectory, true);
final String[] files = Util.loadFileList(mWorkingDirectory, true);
if(files.length > 0)
{
String[] filesWithSize = new String[files.length];
@@ -1885,7 +1850,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
File tmpDir = new File(mWorkingDirectory + RTABMAP_TMP_DIR);
tmpDir.mkdirs();
String[] fileNames = loadFileList(mWorkingDirectory + RTABMAP_TMP_DIR, false);
String[] fileNames = Util.loadFileList(mWorkingDirectory + RTABMAP_TMP_DIR, false);
if(!DISABLE_LOG) Log.i(TAG, String.format("Deleting %d files in \"%s\"", fileNames.length, mWorkingDirectory + RTABMAP_TMP_DIR));
for(int i=0; i<fileNames.length; ++i)
{
@@ -2164,7 +2129,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final String zipOutput = mWorkingDirectory+RTABMAP_EXPORT_DIR+fileName+".zip";
pathHuman = mWorkingDirectoryHuman + RTABMAP_EXPORT_DIR + fileName + ".zip";
String[] fileNames = loadFileList(mWorkingDirectory + RTABMAP_TMP_DIR, false);
String[] fileNames = Util.loadFileList(mWorkingDirectory + RTABMAP_TMP_DIR, false);
if(fileNames.length > 0)
{
String[] filesToZip = new String[fileNames.length];

17
app/android/src/com/introlab/rtabmap/SketchfabActivity.java
View File

@@ -135,15 +135,14 @@ public class SketchfabActivity extends Activity implements OnClickListener {
// verify if we have all files
if(extension.compareTo(".obj") == 0)
{
File objFile = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + RTABMapActivity.RTABMAP_TMP_FILENAME + ".obj");
File mltFile = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + RTABMapActivity.RTABMAP_TMP_FILENAME + ".mtl");
File jpgFile = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + RTABMapActivity.RTABMAP_TMP_FILENAME + ".jpg");
if(objFile.exists() && mltFile.exists() && jpgFile.exists())
String[] fileNames = Util.loadFileList(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR, false);
if(fileNames.length > 0)
{
files = new String[3];
files[0] = objFile.getAbsolutePath();
files[1] = mltFile.getAbsolutePath();
files[2] = jpgFile.getAbsolutePath();
files = new String[fileNames.length];
for(int i=0; i<fileNames.length; ++i)
{
files[i] = mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + "/" + fileNames[i];
}
}
else
{
@@ -152,7 +151,7 @@ public class SketchfabActivity extends Activity implements OnClickListener {
}
else if(extension.compareTo(".ply") == 0)
{
File plyFile = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + RTABMapActivity.RTABMAP_TMP_FILENAME + extension);
File plyFile = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + "/" + RTABMapActivity.RTABMAP_TMP_FILENAME + extension);
if(plyFile.exists())
{
files = new String[1];

37
app/android/src/com/introlab/rtabmap/Util.java
View File

@@ -2,9 +2,12 @@ package com.introlab.rtabmap;
import java.io.BufferedInputStream;
import java.io.BufferedOutputStream;
import java.io.File;
import java.io.FileInputStream;
import java.io.FileOutputStream;
import java.io.FilenameFilter;
import java.io.IOException;
import java.util.Arrays;
import java.util.zip.ZipEntry;
import java.util.zip.ZipOutputStream;
@@ -52,5 +55,39 @@ public class Util {
}
}
public static String[] loadFileList(String directory, final boolean databasesOnly) {
File path = new File(directory);
String fileList[];
try {
path.mkdirs();
}
catch(SecurityException e) {
Log.e(RTABMapActivity.TAG, "unable to write on the sd card " + e.toString());
}
if(path.exists()) {
FilenameFilter filter = new FilenameFilter() {
@Override
public boolean accept(File dir, String filename) {
File sel = new File(dir, filename);
if(databasesOnly)
{
return filename.compareTo(RTABMapActivity.RTABMAP_TMP_DB) != 0 && filename.endsWith(".db");
}
else
{
return sel.isFile();
}
}
};
fileList = path.list(filter);
Arrays.sort(fileList);
}
else {
fileList = new String[0];
}
return fileList;
}
}