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Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database

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matlabbe
2017-06-21 17:14:40 -04:00
parent 0a841f17a4
commit 7a2d1c29f0
10 changed files with 649 additions and 569 deletions
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522
app/android/jni/RTABMapApp.cpp
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@@ -61,7 +61,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define LOW_RES_PIX 2 #define LOW_RES_PIX 2
//#define DEBUG_RENDERING_PERFORMANCE; //#define DEBUG_RENDERING_PERFORMANCE;
const int g_exportedMeshId = -100; const int g_optMeshId = -100;
static JavaVM *jvm; static JavaVM *jvm;
static jobject RTABMapActivity = 0; static jobject RTABMapActivity = 0;
@@ -187,7 +187,7 @@ RTABMapApp::RTABMapApp() :
processGPUMemoryUsedBytes(0), processGPUMemoryUsedBytes(0),
visualizingMesh_(false), visualizingMesh_(false),
exportedMeshUpdated_(false), exportedMeshUpdated_(false),
exportedMesh_(new pcl::TextureMesh), optMesh_(new pcl::TextureMesh),
mapToOdom_(rtabmap::Transform::getIdentity()) mapToOdom_(rtabmap::Transform::getIdentity())
{ {
@@ -289,140 +289,44 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
rtabmap_ = 0; rtabmap_ = 0;
} }
this->registerToEventsManager();
int status = 0; int status = 0;
// Open visualization while we load (if there is an optimized mesh saved in database) // Open visualization while we load (if there is an optimized mesh saved in database)
exportedMesh_.reset(new pcl::TextureMesh); optMesh_.reset(new pcl::TextureMesh);
exportedTexture_ = cv::Mat(); optTexture_ = cv::Mat();
cv::Mat cloudMat; cv::Mat cloudMat;
std::vector<std::vector<std::vector<unsigned int> > > polygons; std::vector<std::vector<std::vector<unsigned int> > > polygons;
std::vector<std::vector<Eigen::Vector2f> > texCoords;
cv::Mat textures; cv::Mat textures;
std::map<int, rtabmap::Transform> optPoses; std::map<int, rtabmap::Transform> optPoses;
if(!databaseSource.empty()) if(!databaseSource.empty())
{ {
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized mesh...")); UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized cloud/mesh..."));
rtabmap::DBDriver * driver = rtabmap::DBDriver::create(); rtabmap::DBDriver * driver = rtabmap::DBDriver::create();
if(driver->openConnection(databaseSource)) if(driver->openConnection(databaseSource))
{ {
cloudMat = driver->loadOptimizedMesh(&optPoses, &polygons, &exportedMesh_->tex_coordinates, &textures); cloudMat = driver->loadOptimizedMesh(&optPoses, &polygons, &texCoords, &textures);
if(!cloudMat.empty()) if(!cloudMat.empty())
{ {
LOGI("Open: Found optimized mesh! Visualizing it."); LOGI("Open: Found optimized mesh! Visualizing it.");
if(cloudMat.channels() <= 3) optMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
optTexture_ = textures;
if(!optTexture_.empty())
{ {
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::laserScanToPointCloud(cloudMat); LOGI("Open: Texture mesh: %dx%d.", optTexture_.cols, optTexture_.rows);
pcl::toPCLPointCloud2(*cloud, exportedMesh_->cloud); status=3;
} }
else if(cloudMat.channels() == 4) else if(optMesh_->tex_polygons.size())
{ {
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudRGB(cloudMat); LOGI("Open: Polygon mesh");
pcl::toPCLPointCloud2(*cloud, exportedMesh_->cloud); status=2;
} }
else if(cloudMat.channels() == 6) else if(!optMesh_->cloud.data.empty())
{ {
pcl::PointCloud<pcl::PointNormal>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudNormal(cloudMat); LOGI("Open: Point cloud");
pcl::toPCLPointCloud2(*cloud, exportedMesh_->cloud); status=1;
}
else if(cloudMat.channels() == 7)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudRGBNormal(cloudMat);
pcl::toPCLPointCloud2(*cloud, exportedMesh_->cloud);
}
if(exportedMesh_->cloud.data.size())
{
status = 1;
}
if(exportedMesh_->cloud.data.size() && polygons.size())
{
status = 2;
exportedMesh_->tex_polygons.resize(polygons.size());
for(unsigned int t=0; t<polygons.size(); ++t)
{
exportedMesh_->tex_polygons[t].resize(polygons[t].size());
for(unsigned int p=0; p<polygons[t].size(); ++p)
{
exportedMesh_->tex_polygons[t][p].vertices = polygons[t][p];
}
}
if(!exportedMesh_->tex_coordinates.empty())
{
status = 3;
UASSERT(!textures.empty() && textures.cols % textures.rows == 0 && textures.cols/textures.rows == (int)exportedMesh_->tex_coordinates.size());
if(textures.cols/textures.rows == 1)
{
exportedTexture_ = textures;
}
else if(textures.cols/textures.rows > 1)
{
// Visualization doesn't support more than one material, so concatenate to 1
std::vector<bool> materialsKept;
float scale = 0.0f;
cv::Size imageSize(textures.rows, textures.rows);
int imageType = CV_8UC3;
rtabmap::util3d::concatenateTextureMaterials(*exportedMesh_, imageSize, textures.rows, 1, scale, &materialsKept);
if(scale && exportedMesh_->tex_materials.size() == 1)
{
int cols = float(textures.rows)/(scale*imageSize.width);
int rows = float(textures.rows)/(scale*imageSize.height);
exportedTexture_ = cv::Mat(textures.rows, textures.rows, imageType, cv::Scalar::all(255));
// make a blank texture
cv::Size resizedImageSize(int(imageSize.width*scale), int(imageSize.height*scale));
int oi=0;
for(int i=0; i<(int)materialsKept.size(); ++i)
{
if(materialsKept.at(i))
{
int u = oi%cols * resizedImageSize.width;
int v = ((oi/cols) % rows ) * resizedImageSize.height;
UASSERT(u < textures.rows-resizedImageSize.width);
UASSERT(v < textures.rows-resizedImageSize.height);
cv::Mat resizedImage;
cv::resize(textures(cv::Range::all(), cv::Range(i*textures.rows, (i+1)*textures.rows)), resizedImage, resizedImageSize, 0.0f, 0.0f, cv::INTER_AREA);
UASSERT(resizedImage.type() == exportedTexture_.type());
resizedImage.copyTo(exportedTexture_(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
++oi;
}
}
}
}
exportedMesh_->tex_materials.resize (exportedMesh_->tex_coordinates.size () + 1);
for(unsigned int i = 0 ; i <= exportedMesh_->tex_coordinates.size() ; ++i)
{
pcl::TexMaterial mesh_material;
mesh_material.tex_Ka.r = 0.2f;
mesh_material.tex_Ka.g = 0.2f;
mesh_material.tex_Ka.b = 0.2f;
mesh_material.tex_Kd.r = 0.8f;
mesh_material.tex_Kd.g = 0.8f;
mesh_material.tex_Kd.b = 0.8f;
mesh_material.tex_Ks.r = 1.0f;
mesh_material.tex_Ks.g = 1.0f;
mesh_material.tex_Ks.b = 1.0f;
mesh_material.tex_d = 1.0f;
mesh_material.tex_Ns = 75.0f;
mesh_material.tex_illum = 2;
std::stringstream tex_name;
tex_name << "material_" << i;
tex_name >> mesh_material.tex_name;
mesh_material.tex_file = uFormat("%d", i);
exportedMesh_->tex_materials[i] = mesh_material;
}
}
} }
} }
else else
@@ -435,11 +339,24 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
if(status > 0) if(status > 0)
{ {
if(status==1)
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized cloud...done!"));
}
else if(status==2)
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized mesh...done!"));
}
else
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized texture mesh...done!"));
}
boost::mutex::scoped_lock lockRender(renderingMutex_); boost::mutex::scoped_lock lockRender(renderingMutex_);
visualizingMesh_ = true; visualizingMesh_ = true;
exportedMeshUpdated_ = true; exportedMeshUpdated_ = true;
} }
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading database..."));
LOGI("Erasing database \"%s\"...", databasePath.c_str()); LOGI("Erasing database \"%s\"...", databasePath.c_str());
UFile::erase(databasePath); UFile::erase(databasePath);
if(!databaseSource.empty()) if(!databaseSource.empty())
@@ -448,8 +365,6 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
UFile::copy(databaseSource, databasePath); UFile::copy(databaseSource, databasePath);
} }
this->registerToEventsManager();
//Rtabmap //Rtabmap
mapToOdom_.setIdentity(); mapToOdom_.setIdentity();
rtabmap_ = new rtabmap::Rtabmap(); rtabmap_ = new rtabmap::Rtabmap();
@@ -1119,32 +1034,37 @@ int RTABMapApp::Render()
main_scene_.clear(); main_scene_.clear();
exportedMeshUpdated_ = false; exportedMeshUpdated_ = false;
} }
if(!main_scene_.hasCloud(g_exportedMeshId)) if(!main_scene_.hasCloud(g_optMeshId))
{ {
LOGI("Adding optimized mesh to opengl..."); LOGI("Adding optimized mesh to opengl (%d points, %d polygons, %d tex_coords, materials=%d texture=%dx%d)...",
if(exportedMesh_->tex_polygons.size() && exportedMesh_->tex_polygons[0].size()) optMesh_->cloud.point_step==0?0:(int)optMesh_->cloud.data.size()/optMesh_->cloud.point_step,
optMesh_->tex_polygons.size()!=1?0:(int)optMesh_->tex_polygons[0].size(),
optMesh_->tex_coordinates.size()!=1?0:(int)optMesh_->tex_coordinates[0].size(),
(int)optMesh_->tex_materials.size(),
optTexture_.cols, optTexture_.rows);
if(optMesh_->tex_polygons.size() && optMesh_->tex_polygons[0].size())
{ {
Mesh mesh; Mesh mesh;
mesh.gains[0] = mesh.gains[1] = mesh.gains[2] = 1.0; mesh.gains[0] = mesh.gains[1] = mesh.gains[2] = 1.0;
mesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>); mesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
mesh.normals.reset(new pcl::PointCloud<pcl::Normal>); mesh.normals.reset(new pcl::PointCloud<pcl::Normal>);
pcl::fromPCLPointCloud2(exportedMesh_->cloud, *mesh.cloud); pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.cloud);
pcl::fromPCLPointCloud2(exportedMesh_->cloud, *mesh.normals); pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.normals);
mesh.polygons = exportedMesh_->tex_polygons[0]; mesh.polygons = optMesh_->tex_polygons[0];
if(exportedMesh_->tex_coordinates.size()) if(optMesh_->tex_coordinates.size())
{ {
mesh.texCoords = exportedMesh_->tex_coordinates[0]; mesh.texCoords = optMesh_->tex_coordinates[0];
mesh.texture = exportedTexture_; mesh.texture = optTexture_;
} }
main_scene_.addMesh(g_exportedMeshId, mesh, opengl_world_T_rtabmap_world, true); main_scene_.addMesh(g_optMeshId, mesh, opengl_world_T_rtabmap_world, true);
} }
else else
{ {
pcl::IndicesPtr indices(new std::vector<int>); // null pcl::IndicesPtr indices(new std::vector<int>); // null
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>); pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::fromPCLPointCloud2(exportedMesh_->cloud, *cloud); pcl::fromPCLPointCloud2(optMesh_->cloud, *cloud);
main_scene_.addCloud(g_exportedMeshId, cloud, indices, opengl_world_T_rtabmap_world); main_scene_.addCloud(g_optMeshId, cloud, indices, opengl_world_T_rtabmap_world);
} }
} }
@@ -1152,7 +1072,7 @@ int RTABMapApp::Render()
bool isMeshRendering = main_scene_.isMeshRendering(); bool isMeshRendering = main_scene_.isMeshRendering();
bool isTextureRendering = main_scene_.isMeshTexturing(); bool isTextureRendering = main_scene_.isMeshTexturing();
main_scene_.setMeshRendering(main_scene_.hasMesh(g_exportedMeshId), main_scene_.hasTexture(g_exportedMeshId)); main_scene_.setMeshRendering(main_scene_.hasMesh(g_optMeshId), main_scene_.hasTexture(g_optMeshId));
fpsTime.restart(); fpsTime.restart();
lastDrawnCloudsCount_ = main_scene_.Render(); lastDrawnCloudsCount_ = main_scene_.Render();
@@ -1166,11 +1086,11 @@ int RTABMapApp::Render()
} }
else else
{ {
if(main_scene_.hasCloud(g_exportedMeshId)) if(main_scene_.hasCloud(g_optMeshId))
{ {
main_scene_.clear(); main_scene_.clear();
exportedMesh_.reset(new pcl::TextureMesh); optMesh_.reset(new pcl::TextureMesh);
exportedTexture_ = cv::Mat(); optTexture_ = cv::Mat();
} }
// should be before clearSceneOnNextRender_ in case database is reset // should be before clearSceneOnNextRender_ in case database is reset
@@ -2108,7 +2028,6 @@ void RTABMapApp::cancelProcessing()
} }
bool RTABMapApp::exportMesh( bool RTABMapApp::exportMesh(
const std::string & filePath,
float cloudVoxelSize, float cloudVoxelSize,
bool regenerateCloud, bool regenerateCloud,
bool meshing, bool meshing,
@@ -2399,7 +2318,7 @@ bool RTABMapApp::exportMesh(
if(textureSize>0) if(textureSize>0)
{ {
LOGI("Texturing..."); LOGI("Texturing... cameraPoses=%d, cameraDepths=%d", (int)cameraPoses.size(), (int)cameraDepths.size());
textureMesh = rtabmap::util3d::createTextureMesh( textureMesh = rtabmap::util3d::createTextureMesh(
mesh, mesh,
cameraPoses, cameraPoses,
@@ -2630,41 +2549,6 @@ bool RTABMapApp::exportMesh(
vertexToPixels, vertexToPixels,
true, 10.0f, true ,true, 0, 0, 0, false, true, 10.0f, true ,true, 0, 0, 0, false,
&progressionStatus_); &progressionStatus_);
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
exporting_ = false;
return false;
}
LOGD("Saving texture(s) (%d)", globalTextures.empty()?0:globalTextures.cols/globalTextures.rows);
std::string baseName = uSplit(UFile::getName(filePath), '.').front();
std::string textureDirectory = UDirectory::getDir(filePath);
UASSERT(globalTextures.empty() || globalTextures.cols % globalTextures.rows == 0);
UASSERT((int)textureMesh->tex_materials.size() == globalTextures.cols/globalTextures.rows);
for(unsigned int i=0; i<textureMesh->tex_materials.size(); ++i)
{
std::string baseNameNum = baseName;
if(textureMesh->tex_materials.size()>1)
{
baseNameNum+=uNumber2Str(i);
}
std::string fullPath = textureDirectory+UDirectory::separator()+baseNameNum+".jpg";
textureMesh->tex_materials[i].tex_file = baseNameNum+".jpg";
LOGI("Saving texture to %s.", fullPath.c_str());
if(!cv::imwrite(fullPath, globalTextures(cv::Range::all(), cv::Range(i*globalTextures.rows, (i+1)*globalTextures.rows))))
{
LOGI("Failed saving %s!", fullPath.c_str());
}
else
{
LOGI("Saved %s.", fullPath.c_str());
}
}
} }
if(progressionStatus_.isCanceled()) if(progressionStatus_.isCanceled())
{ {
@@ -2685,125 +2569,49 @@ bool RTABMapApp::exportMesh(
UASSERT((int)polygonMesh->polygons.size() == totalPolygons); UASSERT((int)polygonMesh->polygons.size() == totalPolygons);
if(polygonMesh->polygons.size()) if(polygonMesh->polygons.size())
{ {
LOGI("Saving ply (%d vertices, %d polygons) to %s.", (int)polygonMesh->cloud.data.size()/polygonMesh->cloud.point_step, totalPolygons, filePath.c_str()); // save in database
success = pcl::io::savePLYFile(filePath, *polygonMesh) == 0; pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
if(success) pcl::fromPCLPointCloud2(polygonMesh->cloud, *cloud);
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud)); // for database
std::vector<std::vector<std::vector<unsigned int> > > polygons(1);
polygons[0].resize(polygonMesh->polygons.size());
for(unsigned int p=0; p<polygonMesh->polygons.size(); ++p)
{ {
UINFO("Saved ply to %s!", filePath.c_str()); polygons[0][p] = polygonMesh->polygons[p].vertices;
exportedMesh_.reset(new pcl::TextureMesh);
exportedMesh_->cloud = polygonMesh->cloud;
exportedMesh_->tex_polygons.push_back(polygonMesh->polygons);
// save in database
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::fromPCLPointCloud2(polygonMesh->cloud, *cloud);
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud)); // for database
std::vector<std::vector<std::vector<unsigned int> > > polygons(exportedMesh_->tex_polygons.size());
for(unsigned int t=0; t<exportedMesh_->tex_polygons.size(); ++t)
{
polygons[t].resize(exportedMesh_->tex_polygons[t].size());
for(unsigned int p=0; p<exportedMesh_->tex_polygons[t].size(); ++p)
{
polygons[t][p] = exportedMesh_->tex_polygons[t][p].vertices;
}
}
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, poses, polygons);
}
else
{
UERROR("Failed saving ply to %s!", filePath.c_str());
} }
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, poses, polygons);
success = true;
} }
} }
else if(textureMesh->tex_materials.size()) 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::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud); pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud)); // for database cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud)); // for database
pcl::PCLPointCloud2 tmp = textureMesh->cloud;
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::Transform(1,0,0,0, 0,0,1,0, 0,-1,0,0)); // save in database
pcl::toPCLPointCloud2(*cloud, textureMesh->cloud); std::vector<std::vector<std::vector<unsigned int> > > polygons(textureMesh->tex_polygons.size());
LOGI("Saving obj (%d vertices, %d polygons) to %s.", (int)textureMesh->cloud.data.size()/textureMesh->cloud.point_step, totalPolygons, filePath.c_str()); for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
success = pcl::io::saveOBJFile(filePath, *textureMesh) == 0;
textureMesh->cloud = tmp;
if(success)
{ {
LOGI("Saved obj to %s!", filePath.c_str()); polygons[t].resize(textureMesh->tex_polygons[t].size());
exportedMesh_ = textureMesh; for(unsigned int p=0; p<textureMesh->tex_polygons[t].size(); ++p)
// save in database
{ {
std::vector<std::vector<std::vector<unsigned int> > > polygons(exportedMesh_->tex_polygons.size()); polygons[t][p] = textureMesh->tex_polygons[t][p].vertices;
for(unsigned int t=0; t<exportedMesh_->tex_polygons.size(); ++t)
{
polygons[t].resize(exportedMesh_->tex_polygons[t].size());
for(unsigned int p=0; p<exportedMesh_->tex_polygons[t].size(); ++p)
{
polygons[t][p] = exportedMesh_->tex_polygons[t][p].vertices;
}
}
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, poses, polygons, exportedMesh_->tex_coordinates, globalTextures);
}
if(globalTextures.cols/globalTextures.rows == 1)
{
exportedTexture_ = globalTextures;
}
else if(globalTextures.cols/globalTextures.rows > 1)
{
// Visualization doesn't support more than one material, so concatenate to 1
std::vector<bool> materialsKept;
float scale = 0.0f;
cv::Size imageSize(globalTextures.rows, globalTextures.rows);
int imageType = CV_8UC3;
rtabmap::util3d::concatenateTextureMaterials(*exportedMesh_, imageSize, textureSize, 1, scale, &materialsKept);
if(scale && exportedMesh_->tex_materials.size() == 1)
{
int cols = float(textureSize)/(scale*imageSize.width);
int rows = float(textureSize)/(scale*imageSize.height);
exportedTexture_ = cv::Mat(textureSize, textureSize, imageType, cv::Scalar::all(255));
// make a blank texture
cv::Size resizedImageSize(int(imageSize.width*scale), int(imageSize.height*scale));
int oi=0;
for(int i=0; i<(int)materialsKept.size(); ++i)
{
if(materialsKept.at(i))
{
int u = oi%cols * resizedImageSize.width;
int v = ((oi/cols) % rows ) * resizedImageSize.height;
UASSERT(u < textureSize-resizedImageSize.width);
UASSERT(v < textureSize-resizedImageSize.height);
cv::Mat resizedImage;
cv::resize(globalTextures(cv::Range::all(), cv::Range(i*globalTextures.rows, (i+1)*globalTextures.rows)), resizedImage, resizedImageSize, 0.0f, 0.0f, cv::INTER_AREA);
UASSERT(resizedImage.type() == exportedTexture_.type());
resizedImage.copyTo(exportedTexture_(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
++oi;
}
}
}
} }
} }
else boost::mutex::scoped_lock lock(rtabmapMutex_);
{ rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, poses, polygons, textureMesh->tex_coordinates, globalTextures);
UERROR("Failed saving obj to %s!", filePath.c_str()); success = true;
}
} }
else else
{ {
UERROR("Failed exporting obj to %s! There are no textures!", filePath.c_str()); UERROR("Failed exporting texture mesh! There are no textures!");
} }
} }
else else
{ {
UERROR("Failed exporting to %s! There are no polygons!", filePath.c_str()); UERROR("Failed exporting mesh! There are no polygons!");
} }
} }
else // Point cloud else // Point cloud
@@ -2911,29 +2719,12 @@ bool RTABMapApp::exportMesh(
mergedClouds = rtabmap::util3d::voxelize(mergedClouds, cloudVoxelSize); mergedClouds = rtabmap::util3d::voxelize(mergedClouds, cloudVoxelSize);
} }
pcl::PolygonMesh mesh; // save in database
pcl::toPCLPointCloud2(*mergedClouds, mesh.cloud);
LOGI("Saving ply (%d points) to %s.", (int)mergedClouds->size(), filePath.c_str());
success = pcl::io::savePLYFileBinary(filePath, mesh) == 0;
if(success)
{ {
LOGI("Saved ply to %s!", filePath.c_str()); cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*mergedClouds)); // for database
boost::mutex::scoped_lock lock(rtabmapMutex_);
// save in database rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, poses);
{ success = true;
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*mergedClouds)); // for database
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, poses);
}
mergedClouds->clear();
exportedMesh_.reset(new pcl::TextureMesh);
exportedMesh_->cloud = mesh.cloud;
}
else
{
UERROR("Failed saving ply to %s!", filePath.c_str());
} }
} }
} }
@@ -2964,23 +2755,148 @@ bool RTABMapApp::exportMesh(
bool RTABMapApp::postExportation(bool visualize) bool RTABMapApp::postExportation(bool visualize)
{ {
LOGI("postExportation(visualize=%d)", visualize?1:0); LOGI("postExportation(visualize=%d)", visualize?1:0);
if(visualize && exportedMesh_->cloud.data.size()) optMesh_.reset(new pcl::TextureMesh);
optTexture_ = cv::Mat();
exportedMeshUpdated_ = false;
visualizingMesh_ = false;
if(visualize)
{ {
boost::mutex::scoped_lock lock(renderingMutex_); cv::Mat cloudMat;
visualizingMesh_ = true; std::vector<std::vector<std::vector<unsigned int> > > polygons;
exportedMeshUpdated_ = true; std::vector<std::vector<Eigen::Vector2f> > texCoords;
} cv::Mat textures;
else std::map<int, rtabmap::Transform> optPoses;
{ if(rtabmap_ && rtabmap_->getMemory())
exportedMesh_.reset(new pcl::TextureMesh); {
exportedTexture_ = cv::Mat(); cloudMat = rtabmap_->getMemory()->loadOptimizedMesh(&optPoses, &polygons, &texCoords, &textures);
exportedMeshUpdated_ = false; if(!cloudMat.empty())
visualizingMesh_ = false; {
LOGI("postExportation: Found optimized mesh! Visualizing it.");
optMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
optTexture_ = textures;
boost::mutex::scoped_lock lock(renderingMutex_);
visualizingMesh_ = true;
exportedMeshUpdated_ = true;
}
else
{
LOGI("postExportation: No optimized mesh found.");
}
}
} }
return visualizingMesh_; return visualizingMesh_;
} }
bool RTABMapApp::writeExportedMesh(const std::string & directory, const std::string & name)
{
LOGI("writeExportedMesh: dir=%s name=%s", directory.c_str(), name.c_str());
exporting_ = true;
bool success = false;
pcl::PolygonMesh::Ptr polygonMesh(new pcl::PolygonMesh);
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
cv::Mat cloudMat;
std::vector<std::vector<std::vector<unsigned int> > > polygons;
std::vector<std::vector<Eigen::Vector2f> > texCoords;
cv::Mat textures;
std::map<int, rtabmap::Transform> optPoses;
if(rtabmap_ && rtabmap_->getMemory())
{
cloudMat = rtabmap_->getMemory()->loadOptimizedMesh(&optPoses, &polygons, &texCoords, &textures);
if(!cloudMat.empty())
{
LOGI("writeExportedMesh: Found optimized mesh!");
if(textures.empty())
{
polygonMesh = rtabmap::util3d::assemblePolygonMesh(cloudMat, polygons.size() == 1?polygons[0]:std::vector<std::vector<unsigned int> >());
}
else
{
textureMesh = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, false);
}
}
else
{
LOGI("writeExportedMesh: No optimized mesh found.");
}
}
if(polygonMesh->cloud.data.size())
{
// Point cloud PLY
std::string filePath = directory + UDirectory::separator() + name + ".ply";
LOGI("Saving ply (%d vertices, %d polygons) to %s.", (int)polygonMesh->cloud.data.size()/polygonMesh->cloud.point_step, (int)polygonMesh->polygons.size(), filePath.c_str());
success = pcl::io::savePLYFileBinary(filePath, *polygonMesh) == 0;
if(success)
{
LOGI("Saved ply to %s!", filePath.c_str());
}
else
{
UERROR("Failed saving ply to %s!", filePath.c_str());
}
}
else if(textureMesh->cloud.data.size())
{
// TextureMesh OBJ
LOGD("Saving texture(s) (%d)", textures.empty()?0:textures.cols/textures.rows);
UASSERT(textures.empty() || textures.cols % textures.rows == 0);
UASSERT((int)textureMesh->tex_materials.size() == textures.cols/textures.rows);
for(unsigned int i=0; i<textureMesh->tex_materials.size(); ++i)
{
std::string baseNameNum = name;
if(textureMesh->tex_materials.size()>1)
{
baseNameNum+=uNumber2Str(i);
}
std::string fullPath = directory+UDirectory::separator()+baseNameNum+".jpg";
textureMesh->tex_materials[i].tex_file = baseNameNum+".jpg";
LOGI("Saving texture to %s.", fullPath.c_str());
success = cv::imwrite(fullPath, textures(cv::Range::all(), cv::Range(i*textures.rows, (i+1)*textures.rows)));
if(!success)
{
LOGI("Failed saving %s!", fullPath.c_str());
}
else
{
LOGI("Saved %s.", fullPath.c_str());
}
}
if(success)
{
// 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);
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::Transform(1,0,0,0, 0,0,1,0, 0,-1,0,0));
pcl::toPCLPointCloud2(*cloud, textureMesh->cloud);
std::string filePath = directory + UDirectory::separator() + name + ".obj";
int totalPolygons = 0;
for(unsigned int i=0;i<textureMesh->tex_polygons.size(); ++i)
{
totalPolygons += textureMesh->tex_polygons[i].size();
}
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;
if(success)
{
LOGI("Saved obj to %s!", filePath.c_str());
}
else
{
UERROR("Failed saving obj to %s!", filePath.c_str());
}
}
}
exporting_ = false;
return success;
}
int RTABMapApp::postProcessing(int approach) int RTABMapApp::postProcessing(int approach)
{ {
postProcessing_ = true; postProcessing_ = true;

7
app/android/jni/RTABMapApp.h
View File

@@ -151,7 +151,6 @@ class RTABMapApp : public UEventsHandler {
void save(const std::string & databasePath); void save(const std::string & databasePath);
void cancelProcessing(); void cancelProcessing();
bool exportMesh( bool exportMesh(
const std::string & filePath,
float cloudVoxelSize, float cloudVoxelSize,
bool regenerateCloud, bool regenerateCloud,
bool meshing, bool meshing,
@@ -169,6 +168,7 @@ class RTABMapApp : public UEventsHandler {
int optimizedMinTextureClusterSize, int optimizedMinTextureClusterSize,
bool blockRendering); bool blockRendering);
bool postExportation(bool visualize); bool postExportation(bool visualize);
bool writeExportedMesh(const std::string & directory, const std::string & name);
int postProcessing(int approach); int postProcessing(int approach);
protected: protected:
@@ -232,9 +232,8 @@ class RTABMapApp : public UEventsHandler {
bool visualizingMesh_; bool visualizingMesh_;
bool exportedMeshUpdated_; bool exportedMeshUpdated_;
pcl::TextureMesh::Ptr exportedMesh_; pcl::TextureMesh::Ptr optMesh_;
cv::Mat exportedTexture_; cv::Mat optTexture_;
std::map<int, rtabmap::Transform> exportedPoses_;
// main_scene_ includes all drawable object for visualizing Tango device's // main_scene_ includes all drawable object for visualizing Tango device's
// movement and point cloud. // movement and point cloud.

16
app/android/jni/jni_interface.cpp
View File

@@ -359,7 +359,6 @@ Java_com_introlab_rtabmap_RTABMapLib_cancelProcessing(
JNIEXPORT bool JNICALL JNIEXPORT bool JNICALL
Java_com_introlab_rtabmap_RTABMapLib_exportMesh( Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
JNIEnv* env, jobject, JNIEnv* env, jobject,
jstring filePath,
float cloudVoxelSize, float cloudVoxelSize,
bool regenerateCloud, bool regenerateCloud,
bool meshing, bool meshing,
@@ -377,10 +376,7 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
int optimizedMinTextureClusterSize, int optimizedMinTextureClusterSize,
bool blockRendering) bool blockRendering)
{ {
std::string filePathC;
GetJStringContent(env,filePath,filePathC);
return app.exportMesh( return app.exportMesh(
filePathC,
cloudVoxelSize, cloudVoxelSize,
regenerateCloud, regenerateCloud,
meshing, meshing,
@@ -406,6 +402,18 @@ Java_com_introlab_rtabmap_RTABMapLib_postExportation(
return app.postExportation(visualize); return app.postExportation(visualize);
} }
JNIEXPORT bool JNICALL
Java_com_introlab_rtabmap_RTABMapLib_writeExportedMesh(
JNIEnv* env, jobject, jstring directory, jstring name)
{
std::string directoryC;
GetJStringContent(env,directory,directoryC);
std::string nameC;
GetJStringContent(env,name,nameC);
return app.writeExportedMesh(directoryC, nameC);
}
JNIEXPORT int JNICALL JNIEXPORT int JNICALL
Java_com_introlab_rtabmap_RTABMapLib_postProcessing( Java_com_introlab_rtabmap_RTABMapLib_postProcessing(
JNIEnv* env, jobject, int approach) JNIEnv* env, jobject, int approach)

308
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

@@ -123,7 +123,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
public static final String RTABMAP_AUTH_TOKEN_KEY = "com.introlab.rtabmap.AUTH_TOKEN"; public static final String RTABMAP_AUTH_TOKEN_KEY = "com.introlab.rtabmap.AUTH_TOKEN";
public static final String RTABMAP_FILENAME_KEY = "com.introlab.rtabmap.FILENAME"; public static final String RTABMAP_FILENAME_KEY = "com.introlab.rtabmap.FILENAME";
public static final String RTABMAP_OPENED_DB_PATH_KEY = "com.introlab.rtabmap.OPENED_DB_PATH"; public static final String RTABMAP_OPENED_DB_PATH_KEY = "com.introlab.rtabmap.OPENED_DB_PATH";
public static final String RTABMAP_EXPORTED_OBJ_KEY = "com.introlab.rtabmap.EXPORTED_OBJ";
public static final String RTABMAP_WORKING_DIR_KEY = "com.introlab.rtabmap.WORKING_DIR"; public static final String RTABMAP_WORKING_DIR_KEY = "com.introlab.rtabmap.WORKING_DIR";
public static final int SKETCHFAB_ACTIVITY_CODE = 999; public static final int SKETCHFAB_ACTIVITY_CODE = 999;
private String mAuthToken; private String mAuthToken;
@@ -198,7 +197,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private int mTotalLoopClosures = 0; private int mTotalLoopClosures = 0;
private boolean mMapIsEmpty = false; private boolean mMapIsEmpty = false;
private boolean mExportedOBJ = false;
int mMapNodes = 0; int mMapNodes = 0;
private Toast mToast = null; private Toast mToast = null;
@@ -818,11 +816,11 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{ {
if(mItemStatusVisibility != null && mItemDebugVisibility != null) if(mItemStatusVisibility != null && mItemDebugVisibility != null)
{ {
if(mItemStatusVisibility.isChecked() && mItemDebugVisibility.isChecked()) if((mItemStatusVisibility.isChecked() || mState == State.STATE_VISUALIZING_WHILE_LOADING) && mItemDebugVisibility.isChecked())
{ {
mRenderer.updateTexts(mStatusTexts); mRenderer.updateTexts(mStatusTexts);
} }
else if(mItemStatusVisibility.isChecked()) else if((mItemStatusVisibility.isChecked() || mState == State.STATE_VISUALIZING_WHILE_LOADING))
{ {
mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 0, 3)); mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 0, 3));
} }
@@ -1040,6 +1038,46 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{ {
if(!DISABLE_LOG) Log.i(TAG, String.format("rtabmapInitEventsUI() status=%d msg=%s", status, msg)); if(!DISABLE_LOG) Log.i(TAG, String.format("rtabmapInitEventsUI() status=%d msg=%s", status, msg));
int optimizedMeshDetected = 0;
if(msg.equals("Loading optimized cloud...done!"))
{
optimizedMeshDetected = 1;
}
else if(msg.equals("Loading optimized mesh...done!"))
{
optimizedMeshDetected = 2;
}
else if(msg.equals("Loading optimized texture mesh...done!"))
{
optimizedMeshDetected = 3;
}
if(optimizedMeshDetected > 0)
{
resetNoTouchTimer();
mSavedRenderingType = mItemRenderingPointCloud.isChecked()?0:mItemRenderingMesh.isChecked()?1:2;
if(optimizedMeshDetected==1)
{
mItemRenderingPointCloud.setChecked(true);
}
else if(optimizedMeshDetected==2)
{
mItemRenderingMesh.setChecked(true);
}
else // isOBJ
{
mItemRenderingTextureMesh.setChecked(true);
}
updateState(State.STATE_VISUALIZING_WHILE_LOADING);
if(mButtonFirst.isChecked())
{
setCamera(1);
}
mToast.makeText(getActivity(), String.format("Optimized mesh detected in the database, it is shown while the database is loading..."), mToast.LENGTH_LONG).show();
mProgressDialog.dismiss();
}
if(mButtonPause!=null) if(mButtonPause!=null)
{ {
if(mButtonPause.isChecked()) if(mButtonPause.isChecked())
@@ -1339,7 +1377,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mDateOnPause = new Date(); mDateOnPause = new Date();
long memoryFree = getFreeMemory(); long memoryFree = getFreeMemory();
if(!mOnPause && !mItemLocalizationMode.isChecked() && !mItemDataRecorderMode.isChecked() && memoryFree >= 100) if(!mOnPause && !mItemLocalizationMode.isChecked() && !mItemDataRecorderMode.isChecked() && memoryFree >= 100 && mMapNodes>2)
{ {
// Do standard post processing? // Do standard post processing?
new AlertDialog.Builder(getActivity()) new AlertDialog.Builder(getActivity())
@@ -1882,34 +1920,13 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mExportProgressDialog.show(); mExportProgressDialog.show();
updateState(State.STATE_PROCESSING); updateState(State.STATE_PROCESSING);
final String tmpPath = mWorkingDirectory + RTABMAP_TMP_DIR + "/" + RTABMAP_TMP_FILENAME + extension;
File tmpDir = new File(mWorkingDirectory + RTABMAP_TMP_DIR);
tmpDir.mkdirs();
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)
{
File f = new File(mWorkingDirectory + RTABMAP_TMP_DIR + "/" + fileNames[i]);
if(f.delete())
{
if(!DISABLE_LOG) Log.i(TAG, String.format("Deleted \"%s\"", f.getPath()));
}
else
{
if(!DISABLE_LOG) Log.i(TAG, String.format("Failed deleting \"%s\"", f.getPath()));
}
}
File exportDir = new File(mWorkingDirectory + RTABMAP_EXPORT_DIR);
exportDir.mkdirs();
Thread exportThread = new Thread(new Runnable() { Thread exportThread = new Thread(new Runnable() {
public void run() { public void run() {
final long startTime = System.currentTimeMillis()/1000; final long startTime = System.currentTimeMillis()/1000;
final boolean success = RTABMapLib.exportMesh( final boolean success = RTABMapLib.exportMesh(
tmpPath,
cloudVoxelSize, cloudVoxelSize,
regenerateCloud, regenerateCloud,
meshing, meshing,
@@ -1946,7 +1963,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
.setMessage(Html.fromHtml("Do you want visualize the result before saving to file or sharing to <a href=\"https://sketchfab.com/about\">Sketchfab</a>?")) .setMessage(Html.fromHtml("Do you want visualize the result before saving to file or sharing to <a href=\"https://sketchfab.com/about\">Sketchfab</a>?"))
.setPositiveButton("Yes", new DialogInterface.OnClickListener() { .setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) { public void onClick(DialogInterface dialog, int which) {
mExportedOBJ = isOBJ;
resetNoTouchTimer(); resetNoTouchTimer();
mSavedRenderingType = mItemRenderingPointCloud.isChecked()?0:mItemRenderingMesh.isChecked()?1:2; mSavedRenderingType = mItemRenderingPointCloud.isChecked()?0:mItemRenderingMesh.isChecked()?1:2;
if(!meshing) if(!meshing)
@@ -1976,7 +1992,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}) })
.setNegativeButton("No", new DialogInterface.OnClickListener() { .setNegativeButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) { public void onClick(DialogInterface dialog, int which) {
mExportedOBJ = isOBJ;
updateState(State.STATE_IDLE); updateState(State.STATE_IDLE);
RTABMapLib.postExportation(false); RTABMapLib.postExportation(false);
@@ -2091,8 +2106,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private void saveOnDevice() private void saveOnDevice()
{ {
AlertDialog.Builder builder = new AlertDialog.Builder(this); AlertDialog.Builder builder = new AlertDialog.Builder(this);
final String extension = mExportedOBJ?".obj":".ply"; builder.setTitle("Model Name:");
builder.setTitle(String.format("File Name (*%s):", extension));
final EditText input = new EditText(this); final EditText input = new EditText(this);
input.setInputType(InputType.TYPE_CLASS_TEXT); input.setInputType(InputType.TYPE_CLASS_TEXT);
builder.setView(input); builder.setView(input);
@@ -2126,7 +2140,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
dialog.dismiss(); dialog.dismiss();
if(!fileName.isEmpty()) if(!fileName.isEmpty())
{ {
File newFile = new File(mWorkingDirectory + RTABMAP_EXPORT_DIR + fileName + (mExportedOBJ?".zip":".ply")); File newFile = new File(mWorkingDirectory + RTABMAP_EXPORT_DIR + fileName + ".zip");
if(newFile.exists()) if(newFile.exists())
{ {
new AlertDialog.Builder(getActivity()) new AlertDialog.Builder(getActivity())
@@ -2134,7 +2148,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
.setMessage("Do you want to overwrite the existing file?") .setMessage("Do you want to overwrite the existing file?")
.setPositiveButton("Yes", new DialogInterface.OnClickListener() { .setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) { public void onClick(DialogInterface dialog, int which) {
writeExportedFiles(fileName, mExportedOBJ); writeExportedFiles(fileName);
} }
}) })
.setNegativeButton("No", new DialogInterface.OnClickListener() { .setNegativeButton("No", new DialogInterface.OnClickListener() {
@@ -2146,7 +2160,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
} }
else else
{ {
writeExportedFiles(fileName, mExportedOBJ); writeExportedFiles(fileName);
} }
} }
} }
@@ -2156,86 +2170,110 @@ public class RTABMapActivity extends Activity implements OnClickListener {
alertToShow.show(); alertToShow.show();
} }
private void writeExportedFiles(String fileName, boolean isOBJ) private void writeExportedFiles(final String fileName)
{ {
String pathHuman; Log.i(TAG, String.format("Write exported mesh to \"%s\"", fileName));
boolean success = true;
if(mExportedOBJ) mProgressDialog.setTitle("Saving to sd-card");
{ mProgressDialog.setMessage(String.format("Compressing the files..."));
final String zipOutput = mWorkingDirectory+RTABMAP_EXPORT_DIR+fileName+".zip"; mProgressDialog.show();
pathHuman = mWorkingDirectoryHuman + RTABMAP_EXPORT_DIR + fileName + ".zip";
Thread workingThread = new Thread(new Runnable() {
String[] fileNames = Util.loadFileList(mWorkingDirectory + RTABMAP_TMP_DIR, false); public void run() {
if(fileNames.length > 0) boolean success = false;
{
String[] filesToZip = new String[fileNames.length]; File tmpDir = new File(mWorkingDirectory + RTABMAP_TMP_DIR);
tmpDir.mkdirs();
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) for(int i=0; i<fileNames.length; ++i)
{ {
filesToZip[i] = mWorkingDirectory + RTABMAP_TMP_DIR + "/" + fileNames[i]; File f = new File(mWorkingDirectory + RTABMAP_TMP_DIR + "/" + fileNames[i]);
if(f.delete())
{
if(!DISABLE_LOG) Log.i(TAG, String.format("Deleted \"%s\"", f.getPath()));
}
else
{
if(!DISABLE_LOG) Log.i(TAG, String.format("Failed deleting \"%s\"", f.getPath()));
}
} }
File exportDir = new File(mWorkingDirectory + RTABMAP_EXPORT_DIR);
File toZIPFile = new File(zipOutput); exportDir.mkdirs();
toZIPFile.delete();
try final String pathHuman = mWorkingDirectoryHuman + RTABMAP_EXPORT_DIR + fileName + ".zip";
if(RTABMapLib.writeExportedMesh(mWorkingDirectory + RTABMAP_TMP_DIR, RTABMAP_TMP_FILENAME))
{ {
Util.zip(filesToZip, zipOutput); final String zipOutput = mWorkingDirectory+RTABMAP_EXPORT_DIR+fileName+".zip";
mToast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", pathHuman), mToast.LENGTH_LONG).show();
fileNames = Util.loadFileList(mWorkingDirectory + RTABMAP_TMP_DIR, false);
if(fileNames.length > 0)
{
String[] filesToZip = new String[fileNames.length];
for(int i=0; i<fileNames.length; ++i)
{
filesToZip[i] = mWorkingDirectory + RTABMAP_TMP_DIR + "/" + fileNames[i];
}
File toZIPFile = new File(zipOutput);
toZIPFile.delete();
try
{
Util.zip(filesToZip, zipOutput);
success = true;
}
catch(IOException e)
{
final String msg = e.getMessage();
runOnUiThread(new Runnable() {
public void run() {
mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! Error=%s", pathHuman, msg), mToast.LENGTH_LONG).show();
}
});
}
}
} }
catch(IOException e)
if(success)
{ {
mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! Error=%s", pathHuman, e.getMessage()), mToast.LENGTH_LONG).show(); runOnUiThread(new Runnable() {
success = false; public void run() {
mProgressDialog.dismiss();
mToast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", pathHuman), mToast.LENGTH_LONG).show();
Intent intent = new Intent(getActivity(), RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(pathHuman + " exported!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
});
}
else
{
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! No files found in tmp directory!? Last export may have failed or have been canceled.", pathHuman), mToast.LENGTH_LONG).show();
}
});
} }
} }
else });
{ workingThread.start();
mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! No files found in tmp directory!? Last export may have failed or have been canceled.", pathHuman), mToast.LENGTH_LONG).show();
success = false;
}
}
else
{
final String path = mWorkingDirectory + RTABMAP_EXPORT_DIR+ fileName + ".ply";
pathHuman = mWorkingDirectoryHuman + RTABMAP_EXPORT_DIR + fileName + ".ply";
File toPLYFile = new File(path);
toPLYFile.delete();
File fromPLYFile = new File(mWorkingDirectory + RTABMAP_TMP_DIR + "/" + RTABMAP_TMP_FILENAME + ".ply");
try
{
copy(fromPLYFile,toPLYFile);
mToast.makeText(getActivity(), String.format("Mesh/point cloud \"%s\" successfully exported!", pathHuman), mToast.LENGTH_LONG).show();
}
catch(Exception e)
{
mToast.makeText(getActivity(), String.format("Exporting mesh/point cloud \"%s\" failed! Error=%s", pathHuman, e.getMessage()), mToast.LENGTH_LONG).show();
success=false;
}
}
if(success)
{
Intent intent = new Intent(getActivity(), RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(pathHuman + " exported!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
} }
private void openDatabase(final String fileName, final boolean optimize) private void openDatabase(final String fileName, final boolean optimize)
@@ -2255,48 +2293,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
Thread openThread = new Thread(new Runnable() { Thread openThread = new Thread(new Runnable() {
public void run() { public void run() {
SQLiteDatabase db = null;
try {
db = SQLiteDatabase.openDatabase(mOpenedDatabasePath, null, SQLiteDatabase.OPEN_READONLY);
// get version
Cursor c1 = db.rawQuery("SELECT version FROM Admin", null);
if(c1.moveToFirst()) {
String version = c1.getString(c1.getColumnIndex("version"));
Log.i(TAG, "Version="+version);
if(Util.versionCompare(version, "0.13.0") >= 0) {
Cursor c2 = db.rawQuery("SELECT version FROM Admin WHERE opt_cloud is not null", null);
if(c2.moveToFirst()) {
Log.i(TAG, "Found optimized mesh");
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
updateState(State.STATE_VISUALIZING_WHILE_LOADING);
mToast.makeText(getActivity(), String.format("Optimized mesh detected in the database. It will be shown while the database is loading..."), mToast.LENGTH_LONG).show();
}
});
}
else
{
Log.i(TAG, "Not found optimized mesh");
}
}
}
else
{
Log.e(TAG, "Failed getting version from database");
}
} catch (Exception e) {
Log.e(TAG, e.getMessage());
}
finally {
if(db != null && db.isOpen()) {
db.close();
}
}
final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB; final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
final int status = RTABMapLib.openDatabase2(mOpenedDatabasePath, tmpDatabase, databaseInMemory, optimize); final int status = RTABMapLib.openDatabase2(mOpenedDatabasePath, tmpDatabase, databaseInMemory, optimize);
@@ -2354,25 +2351,15 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{ {
mProgressDialog.dismiss(); mProgressDialog.dismiss();
resetNoTouchTimer(); resetNoTouchTimer();
mSavedRenderingType = mItemRenderingPointCloud.isChecked()?0:mItemRenderingMesh.isChecked()?1:2;
if(status==1)
{
mItemRenderingPointCloud.setChecked(true);
}
else if(status==2)
{
mItemRenderingMesh.setChecked(true);
}
else // isOBJ
{
mItemRenderingTextureMesh.setChecked(true);
}
updateState(State.STATE_VISUALIZING); updateState(State.STATE_VISUALIZING);
mToast.makeText(getActivity(), String.format("Database loaded!"), mToast.LENGTH_LONG).show(); mToast.makeText(getActivity(), String.format("Database loaded!"), mToast.LENGTH_LONG).show();
} }
else if(!mItemTrajectoryMode.isChecked()) else if(!mItemTrajectoryMode.isChecked())
{ {
setCamera(1); if(mButtonFirst.isChecked())
{
setCamera(1);
}
// creating meshes... // creating meshes...
updateState(State.STATE_IDLE); updateState(State.STATE_IDLE);
mProgressDialog.setTitle("Loading"); mProgressDialog.setTitle("Loading");
@@ -2406,7 +2393,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
Intent intent = new Intent(getActivity(), SketchfabActivity.class); Intent intent = new Intent(getActivity(), SketchfabActivity.class);
intent.putExtra(RTABMAP_AUTH_TOKEN_KEY, mAuthToken); intent.putExtra(RTABMAP_AUTH_TOKEN_KEY, mAuthToken);
intent.putExtra(RTABMAP_EXPORTED_OBJ_KEY, mExportedOBJ);
intent.putExtra(RTABMAP_WORKING_DIR_KEY, mWorkingDirectory); intent.putExtra(RTABMAP_WORKING_DIR_KEY, mWorkingDirectory);
if(mOpenedDatabasePath.isEmpty()) if(mOpenedDatabasePath.isEmpty())

2
app/android/src/com/introlab/rtabmap/RTABMapLib.java
View File

@@ -96,7 +96,6 @@ public class RTABMapLib
public static native void save(String outputDatabasePath); public static native void save(String outputDatabasePath);
public static native void cancelProcessing(); public static native void cancelProcessing();
public static native boolean exportMesh( public static native boolean exportMesh(
String filePath,
float cloudVoxelSize, float cloudVoxelSize,
boolean regenerateCloud, boolean regenerateCloud,
boolean meshing, boolean meshing,
@@ -113,6 +112,7 @@ public class RTABMapLib
float optimizedMaxTextureDistance, float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize, int optimizedMinTextureClusterSize,
boolean blockRendering); boolean blockRendering);
public static native boolean writeExportedMesh(String directory, String name);
public static native boolean postExportation(boolean visualize); public static native boolean postExportation(boolean visualize);
public static native int postProcessing(int approach); public static native int postProcessing(int approach);

1
app/android/src/com/introlab/rtabmap/Renderer.java
View File

@@ -103,6 +103,7 @@ public class Renderer implements GLSurfaceView.Renderer {
public void run() { public void run() {
if(!RTABMapActivity.DISABLE_LOG) Log.i("RTABMapActivity", "Renderer: dismiss dialog, value received=" + String.valueOf(value)); if(!RTABMapActivity.DISABLE_LOG) Log.i("RTABMapActivity", "Renderer: dismiss dialog, value received=" + String.valueOf(value));
mProgressDialog.dismiss(); mProgressDialog.dismiss();
mActivity.resetNoTouchTimer();
} }
}); });
} }

189
app/android/src/com/introlab/rtabmap/SketchfabActivity.java
View File

@@ -44,7 +44,6 @@ public class SketchfabActivity extends Activity implements OnClickListener {
private Dialog mAuthDialog; private Dialog mAuthDialog;
private String mAuthToken; private String mAuthToken;
private boolean mExportedOBJ;
private String mWorkingDirectory; private String mWorkingDirectory;
EditText mFilename; EditText mFilename;
@@ -70,7 +69,6 @@ public class SketchfabActivity extends Activity implements OnClickListener {
mProgressDialog.setCanceledOnTouchOutside(false); mProgressDialog.setCanceledOnTouchOutside(false);
mAuthToken = getIntent().getExtras().getString(RTABMapActivity.RTABMAP_AUTH_TOKEN_KEY); mAuthToken = getIntent().getExtras().getString(RTABMapActivity.RTABMAP_AUTH_TOKEN_KEY);
mExportedOBJ = getIntent().getExtras().getBoolean(RTABMapActivity.RTABMAP_EXPORTED_OBJ_KEY);
mFilename.setText(getIntent().getExtras().getString(RTABMapActivity.RTABMAP_FILENAME_KEY)); mFilename.setText(getIntent().getExtras().getString(RTABMapActivity.RTABMAP_FILENAME_KEY));
mWorkingDirectory = getIntent().getExtras().getString(RTABMapActivity.RTABMAP_WORKING_DIR_KEY); mWorkingDirectory = getIntent().getExtras().getString(RTABMapActivity.RTABMAP_WORKING_DIR_KEY);
@@ -129,50 +127,7 @@ public class SketchfabActivity extends Activity implements OnClickListener {
editor.commit(); editor.commit();
} }
final String extension = mExportedOBJ?".obj":".ply"; authorizeAndPublish(mFilename.getText().toString());
String[] files = new String[0];
// verify if we have all files
if(extension.compareTo(".obj") == 0)
{
String[] fileNames = Util.loadFileList(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR, false);
if(fileNames.length > 0)
{
files = new String[fileNames.length];
for(int i=0; i<fileNames.length; ++i)
{
files[i] = mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + "/" + fileNames[i];
}
}
else
{
Toast.makeText(getActivity(), String.format("Missing OBJ files!"), Toast.LENGTH_LONG).show();
}
}
else if(extension.compareTo(".ply") == 0)
{
File plyFile = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + "/" + RTABMapActivity.RTABMAP_TMP_FILENAME + extension);
if(plyFile.exists())
{
files = new String[1];
files[0] = plyFile.getAbsolutePath();
}
else
{
Toast.makeText(getActivity(), String.format("Missing PLY file!"), Toast.LENGTH_LONG).show();
}
}
else
{
Toast.makeText(getActivity(), String.format("Unknown file extension \"%s\"!", extension), Toast.LENGTH_LONG).show();
}
if(files.length > 0)
{
final String[] filesToZip = files;
authorizeAndPublish(filesToZip, mFilename.getText().toString());
}
} }
private boolean isNetworkAvailable() { private boolean isNetworkAvailable() {
@@ -182,7 +137,7 @@ public class SketchfabActivity extends Activity implements OnClickListener {
return activeNetworkInfo != null && activeNetworkInfo.isConnected(); return activeNetworkInfo != null && activeNetworkInfo.isConnected();
} }
private void authorizeAndPublish(final String[] filesToZip, final String fileName) private void authorizeAndPublish(final String fileName)
{ {
if(!isNetworkAvailable()) if(!isNetworkAvailable())
{ {
@@ -192,7 +147,7 @@ public class SketchfabActivity extends Activity implements OnClickListener {
.setMessage("Network is not available. Make sure you have internet before continuing.") .setMessage("Network is not available. Make sure you have internet before continuing.")
.setPositiveButton("Try Again", new DialogInterface.OnClickListener() { .setPositiveButton("Try Again", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) { public void onClick(DialogInterface dialog, int which) {
authorizeAndPublish(filesToZip, fileName); authorizeAndPublish(fileName);
} }
}) })
.setNeutralButton("Abort", new DialogInterface.OnClickListener() { .setNeutralButton("Abort", new DialogInterface.OnClickListener() {
@@ -239,7 +194,7 @@ public class SketchfabActivity extends Activity implements OnClickListener {
mAuthDialog.dismiss(); mAuthDialog.dismiss();
zipAndPublish(filesToZip, fileName); zipAndPublish(fileName);
} }
} }
}); });
@@ -250,14 +205,12 @@ public class SketchfabActivity extends Activity implements OnClickListener {
} }
else else
{ {
zipAndPublish(filesToZip, fileName); zipAndPublish(fileName);
} }
} }
private void zipAndPublish(final String[] filesToZip, final String fileName) private void zipAndPublish(final String fileName)
{ {
final String zipOutput = mWorkingDirectory+fileName+".zip";
mProgressDialog.setTitle("Upload to Sketchfab"); mProgressDialog.setTitle("Upload to Sketchfab");
mProgressDialog.setMessage(String.format("Compressing the files...")); mProgressDialog.setMessage(String.format("Compressing the files..."));
mProgressDialog.show(); mProgressDialog.show();
@@ -265,56 +218,110 @@ public class SketchfabActivity extends Activity implements OnClickListener {
Thread workingThread = new Thread(new Runnable() { Thread workingThread = new Thread(new Runnable() {
public void run() { public void run() {
try{ try{
Util.zip(filesToZip, zipOutput);
runOnUiThread(new Runnable() { File tmpDir = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR);
public void run() { tmpDir.mkdirs();
mProgressDialog.dismiss(); String[] fileNames = Util.loadFileList(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR, false);
if(!RTABMapActivity.DISABLE_LOG) Log.i(RTABMapActivity.TAG, String.format("Deleting %d files in \"%s\"", fileNames.length, mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR));
File f = new File(zipOutput); for(int i=0; i<fileNames.length; ++i)
{
// Continue? File f = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + "/" + fileNames[i]);
AlertDialog.Builder builder = new AlertDialog.Builder(getActivity()); if(f.delete())
builder.setTitle("File(s) compressed and ready to upload!"); {
if(!RTABMapActivity.DISABLE_LOG) Log.i(RTABMapActivity.TAG, String.format("Deleted \"%s\"", f.getPath()));
final int fileSizeMB = (int)f.length()/(1024 * 1024); }
final int fileSizeKB = (int)f.length()/(1024); else
if(fileSizeMB == 0) {
if(!RTABMapActivity.DISABLE_LOG) Log.i(RTABMapActivity.TAG, String.format("Failed deleting \"%s\"", f.getPath()));
}
}
File exportDir = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_EXPORT_DIR);
exportDir.mkdirs();
if(RTABMapLib.writeExportedMesh(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR, RTABMapActivity.RTABMAP_TMP_FILENAME))
{
String[] files = new String[0];
// verify if we have all files
fileNames = Util.loadFileList(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR, false);
if(fileNames.length > 0)
{
files = new String[fileNames.length];
for(int i=0; i<fileNames.length; ++i)
{ {
Log.i(RTABMapActivity.TAG, String.format("Zipped files = %d KB", fileSizeKB)); files[i] = mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + "/" + fileNames[i];
builder.setMessage(String.format("Total size to upload = %d KB. Do you want to continue?\n\n", fileSizeKB));
}
else
{
Log.i(RTABMapActivity.TAG, String.format("Zipped files = %d MB", fileSizeMB));
builder.setMessage(String.format("Total size to upload = %d MB. %sDo you want to continue?\n\n"
+ "Tip: To reduce the model size, you can also look at the Settings->Exporting options.", fileSizeMB,
fileSizeMB>=50?"Note that for size over 50 MB, a Sketchfab PRO account is required, otherwise the upload may fail. ":""));
} }
}
else
{
if(!RTABMapActivity.DISABLE_LOG) Log.i(RTABMapActivity.TAG, "Missing files!");
}
if(files.length > 0)
{
final String[] filesToZip = files;
final String zipOutput = mWorkingDirectory+fileName+".zip";
Util.zip(filesToZip, zipOutput);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
File f = new File(zipOutput);
builder.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) { // Continue?
mProgressDialog.setTitle("Upload to Sketchfab"); AlertDialog.Builder builder = new AlertDialog.Builder(getActivity());
builder.setTitle("File(s) compressed and ready to upload!");
final int fileSizeMB = (int)f.length()/(1024 * 1024);
final int fileSizeKB = (int)f.length()/(1024);
if(fileSizeMB == 0) if(fileSizeMB == 0)
{ {
mProgressDialog.setMessage(String.format("Uploading model \"%s\" (%d KB) to Sketchfab...", fileName, fileSizeKB)); Log.i(RTABMapActivity.TAG, String.format("Zipped files = %d KB", fileSizeKB));
builder.setMessage(String.format("Total size to upload = %d KB. Do you want to continue?\n\n", fileSizeKB));
} }
else else
{ {
mProgressDialog.setMessage(String.format("Uploading model \"%s\" (%d MB) to Sketchfab...", fileName, fileSizeMB)); Log.i(RTABMapActivity.TAG, String.format("Zipped files = %d MB", fileSizeMB));
builder.setMessage(String.format("Total size to upload = %d MB. %sDo you want to continue?\n\n"
+ "Tip: To reduce the model size, you can also look at the Settings->Exporting options.", fileSizeMB,
fileSizeMB>=50?"Note that for size over 50 MB, a Sketchfab PRO account is required, otherwise the upload may fail. ":""));
} }
mProgressDialog.show();
new uploadToSketchfabTask().execute(zipOutput, fileName);
builder.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
mProgressDialog.setTitle("Upload to Sketchfab");
if(fileSizeMB == 0)
{
mProgressDialog.setMessage(String.format("Uploading model \"%s\" (%d KB) to Sketchfab...", fileName, fileSizeKB));
}
else
{
mProgressDialog.setMessage(String.format("Uploading model \"%s\" (%d MB) to Sketchfab...", fileName, fileSizeMB));
}
mProgressDialog.show();
new uploadToSketchfabTask().execute(zipOutput, fileName);
}
});
builder.setNegativeButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
// do nothing...
}
});
builder.show();
} }
}); });
builder.setNegativeButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
// do nothing...
}
});
builder.show();
} }
}); }
else
{
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
Toast.makeText(getActivity(), String.format("Failed writing files!"), Toast.LENGTH_LONG).show();
}
});
}
} }
catch(IOException ex) { catch(IOException ex) {
Log.e(RTABMapActivity.TAG, "Failed to zip", ex); Log.e(RTABMapActivity.TAG, "Failed to zip", ex);

5
corelib/include/rtabmap/core/Memory.h
View File

@@ -43,11 +43,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/core/core.hpp> #include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp> #include <opencv2/features2d/features2d.hpp>
namespace pcl
{
class TextureMesh;
}
namespace rtabmap { namespace rtabmap {
class Signature; class Signature;

10
corelib/include/rtabmap/core/util3d_surface.h
View File

@@ -174,6 +174,16 @@ pcl::TextureMesh::Ptr RTABMAP_EXP concatenateTextureMeshes(
void RTABMAP_EXP concatenateTextureMaterials( void RTABMAP_EXP concatenateTextureMaterials(
pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, int maxTextures, float & scale, std::vector<bool> * materialsKept=0); pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, int maxTextures, float & scale, std::vector<bool> * materialsKept=0);
pcl::TextureMesh::Ptr RTABMAP_EXP assembleTextureMesh(
const cv::Mat & cloudMat,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
cv::Mat & textures,
bool mergeTextures = false);
pcl::PolygonMesh::Ptr RTABMAP_EXP assemblePolygonMesh(
const cv::Mat & cloudMat,
const std::vector<std::vector<unsigned int> > & polygons);
/** /**
* Merge all textures in the mesh into "textureCount" textures of size "textureSize". * Merge all textures in the mesh into "textureCount" textures of size "textureSize".

158
corelib/src/util3d_surface.cpp
View File

@@ -27,6 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/util3d_surface.h" #include "rtabmap/core/util3d_surface.h"
#include "rtabmap/core/util3d_filtering.h" #include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util2d.h" #include "rtabmap/core/util2d.h"
#include "rtabmap/core/Memory.h" #include "rtabmap/core/Memory.h"
#include "rtabmap/core/DBDriver.h" #include "rtabmap/core/DBDriver.h"
@@ -1190,6 +1191,163 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
} }
} }
pcl::TextureMesh::Ptr assembleTextureMesh(
const cv::Mat & cloudMat,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
cv::Mat & textures,
bool mergeTextures)
{
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
if(cloudMat.channels() <= 3)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::laserScanToPointCloud(cloudMat);
pcl::toPCLPointCloud2(*cloud, textureMesh->cloud);
}
else if(cloudMat.channels() == 4)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudRGB(cloudMat);
pcl::toPCLPointCloud2(*cloud, textureMesh->cloud);
}
else if(cloudMat.channels() == 6)
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudNormal(cloudMat);
pcl::toPCLPointCloud2(*cloud, textureMesh->cloud);
}
else if(cloudMat.channels() == 7)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudRGBNormal(cloudMat);
pcl::toPCLPointCloud2(*cloud, textureMesh->cloud);
}
if(textureMesh->cloud.data.size() && polygons.size())
{
textureMesh->tex_polygons.resize(polygons.size());
for(unsigned int t=0; t<polygons.size(); ++t)
{
textureMesh->tex_polygons[t].resize(polygons[t].size());
for(unsigned int p=0; p<polygons[t].size(); ++p)
{
textureMesh->tex_polygons[t][p].vertices = polygons[t][p];
}
}
if(!texCoords.empty() && !textures.empty())
{
textureMesh->tex_coordinates = texCoords;
textureMesh->tex_materials.resize (textureMesh->tex_coordinates.size());
for(unsigned int i = 0 ; i < textureMesh->tex_coordinates.size() ; ++i)
{
pcl::TexMaterial mesh_material;
mesh_material.tex_Ka.r = 0.2f;
mesh_material.tex_Ka.g = 0.2f;
mesh_material.tex_Ka.b = 0.2f;
mesh_material.tex_Kd.r = 0.8f;
mesh_material.tex_Kd.g = 0.8f;
mesh_material.tex_Kd.b = 0.8f;
mesh_material.tex_Ks.r = 1.0f;
mesh_material.tex_Ks.g = 1.0f;
mesh_material.tex_Ks.b = 1.0f;
mesh_material.tex_d = 1.0f;
mesh_material.tex_Ns = 75.0f;
mesh_material.tex_illum = 2;
std::stringstream tex_name;
tex_name << "material_" << i;
tex_name >> mesh_material.tex_name;
mesh_material.tex_file = uFormat("%d", i);
textureMesh->tex_materials[i] = mesh_material;
}
if(mergeTextures && textures.cols/textures.rows > 1)
{
UASSERT(textures.cols % textures.rows == 0 && textures.cols/textures.rows == (int)textureMesh->tex_coordinates.size());
std::vector<bool> materialsKept;
float scale = 0.0f;
cv::Size imageSize(textures.rows, textures.rows);
int imageType = textures.type();
rtabmap::util3d::concatenateTextureMaterials(*textureMesh, imageSize, textures.rows, 1, scale, &materialsKept);
if(scale && textureMesh->tex_materials.size() == 1)
{
int cols = float(textures.rows)/(scale*imageSize.width);
int rows = float(textures.rows)/(scale*imageSize.height);
cv::Mat mergedTextures = cv::Mat(textures.rows, textures.rows, imageType, cv::Scalar::all(255));
// make a blank texture
cv::Size resizedImageSize(int(imageSize.width*scale), int(imageSize.height*scale));
int oi=0;
for(int i=0; i<(int)materialsKept.size(); ++i)
{
if(materialsKept.at(i))
{
int u = oi%cols * resizedImageSize.width;
int v = ((oi/cols) % rows ) * resizedImageSize.height;
UASSERT(u < textures.rows-resizedImageSize.width);
UASSERT(v < textures.rows-resizedImageSize.height);
cv::Mat resizedImage;
cv::resize(textures(cv::Range::all(), cv::Range(i*textures.rows, (i+1)*textures.rows)), resizedImage, resizedImageSize, 0.0f, 0.0f, cv::INTER_AREA);
UASSERT(resizedImage.type() == mergedTextures.type());
resizedImage.copyTo(mergedTextures(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
++oi;
}
}
textures = mergedTextures;
}
}
}
}
return textureMesh;
}
pcl::PolygonMesh::Ptr assemblePolygonMesh(
const cv::Mat & cloudMat,
const std::vector<std::vector<unsigned int> > & polygons)
{
pcl::PolygonMesh::Ptr polygonMesh(new pcl::PolygonMesh);
if(cloudMat.channels() <= 3)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::laserScanToPointCloud(cloudMat);
pcl::toPCLPointCloud2(*cloud, polygonMesh->cloud);
}
else if(cloudMat.channels() == 4)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudRGB(cloudMat);
pcl::toPCLPointCloud2(*cloud, polygonMesh->cloud);
}
else if(cloudMat.channels() == 6)
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudNormal(cloudMat);
pcl::toPCLPointCloud2(*cloud, polygonMesh->cloud);
}
else if(cloudMat.channels() == 7)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudRGBNormal(cloudMat);
pcl::toPCLPointCloud2(*cloud, polygonMesh->cloud);
}
if(polygonMesh->cloud.data.size() && polygons.size())
{
polygonMesh->polygons.resize(polygons.size());
for(unsigned int p=0; p<polygons.size(); ++p)
{
polygonMesh->polygons[p].vertices = polygons[p];
}
}
return polygonMesh;
}
double sqr(uchar v) double sqr(uchar v)
{ {
return double(v)*double(v); return double(v)*double(v);