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

app/android/jni/RTABMapApp.cpp

@@ -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());

app/android/src/com/introlab/rtabmap/RTABMapActivity.java

@@ -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];

app/android/src/com/introlab/rtabmap/SketchfabActivity.java

@@ -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");
+			String[] fileNames = Util.loadFileList(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR, false);
-			File mltFile = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + RTABMapActivity.RTABMAP_TMP_FILENAME + ".mtl");
+			if(fileNames.length > 0)
-			File jpgFile = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + RTABMapActivity.RTABMAP_TMP_FILENAME + ".jpg");
-			if(objFile.exists() && mltFile.exists() && jpgFile.exists())
 			{
-				files = new String[3];
+				files = new String[fileNames.length];
-				files[0] = objFile.getAbsolutePath();
+				for(int i=0; i<fileNames.length; ++i)
-				files[1] = mltFile.getAbsolutePath();
+				{
-				files[2] = jpgFile.getAbsolutePath();
+					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];

app/android/src/com/introlab/rtabmap/Util.java

@@ -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;
+	}
 	
 }