Tango: added min texture cluster size option

2026-09-02 01:20:25 +08:00 · 2017-03-04 19:34:40 -05:00
parent e003fb8d35
commit d927b82020
11 changed files with 92 additions and 55 deletions
--- a/app/android/AndroidManifest.xml.in
+++ b/app/android/AndroidManifest.xml.in
@@ -2,7 +2,7 @@
 <!-- BEGIN_INCLUDE(manifest) -->
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
        package="com.introlab.rtabmap"
-        android:versionCode="39"
+        android:versionCode="40"
        android:versionName="@RTABMAP_VERSION@">

    <uses-permission android:name="android.permission.CAMERA" />
--- a/app/android/jni/RTABMapApp.cpp
+++ b/app/android/jni/RTABMapApp.cpp
@@ -1558,7 +1558,6 @@ bool RTABMapApp::exportMesh(
 		bool meshing,
 		int textureSize,
 		int normalK,
-		float maxTextureDistance,
 		bool optimized,
 		float optimizedVoxelSize,
 		int optimizedDepth,
@@ -1566,6 +1565,8 @@ bool RTABMapApp::exportMesh(
 		float optimizedColorRadius,
 		bool optimizedCleanWhitePolygons,
 		bool optimizedColorWhitePolygons, // not yet used
+		float optimizedMaxTextureDistance,
+		int optimizedMinTextureClusterSize,
 		bool blockRendering)
 {
 	// make sure createdMeshes_ is not modified while exporting! We don't
@@ -1991,8 +1992,8 @@ bool RTABMapApp::exportMesh(
 										mesh,
 										cameraPoses,
 										cameraModels,
-										maxTextureDistance,
-										50,
+										optimizedMaxTextureDistance,
+										optimizedMinTextureClusterSize,
 										&progressionStatus_);
 								LOGI("Texturing... done! %fs", timer.ticks());

--- a/app/android/jni/RTABMapApp.h
+++ b/app/android/jni/RTABMapApp.h
@@ -151,7 +151,6 @@ class RTABMapApp : public UEventsHandler {
 		  bool meshing,
 		  int textureSize,
 		  int normalK,
-		  float maxTextureDistance,
 		  bool optimized,
 		  float optimizedVoxelSize,
 		  int optimizedDepth,
@@ -159,6 +158,8 @@ class RTABMapApp : public UEventsHandler {
 		  float optimizedColorRadius,
 		  bool optimizedCleanWhitePolygons,
 		  bool optimizedColorWhitePolygons,
+		  float optimizedMaxTextureDistance,
+		  int optimizedMinTextureClusterSize,
 		  bool blockRendering);
  bool postExportation(bool visualize);
  int postProcessing(int approach);
--- a/app/android/jni/jni_interface.cpp
+++ b/app/android/jni/jni_interface.cpp
@@ -312,7 +312,6 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
 		bool meshing,
 		int textureSize,
 		int normalK,
-		float maxTextureDistance,
 		bool optimized,
 		float optimizedVoxelSize,
 		int optimizedDepth,
@@ -320,6 +319,8 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
 		float optimizedColorRadius,
 		bool optimizedCleanWhitePolygons,
 		bool optimizedColorWhitePolygons,
+		float optimizedMaxTextureDistance,
+		int optimizedMinTextureClusterSize,
 		bool blockRendering)
 {
 	std::string filePathC;
@@ -331,7 +332,6 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
 			meshing,
 			textureSize,
 			normalK,
-			maxTextureDistance,
 			optimized,
 			optimizedVoxelSize,
 			optimizedDepth,
@@ -339,6 +339,8 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
 			optimizedColorRadius,
 			optimizedCleanWhitePolygons,
 			optimizedColorWhitePolygons,
+			optimizedMaxTextureDistance,
+			optimizedMinTextureClusterSize,
 			blockRendering);
 }

--- a/app/android/jni/scene.cpp
+++ b/app/android/jni/scene.cpp
@@ -65,8 +65,8 @@ const std::string kPointCloudVertexShader =
 	"    vLightWeighting = 1.0;\n"
 	"  } else {\n"
 	"    vec3 transformedNormal = uN * aNormal;\n"
-	"    vLightWeighting = max(dot(transformedNormal, uLightingDirection), 0.0);\n"
-	"    if(vLightWeighting<0.1) vLightWeighting=0.1;\n"
+	"    vLightWeighting = max(dot(transformedNormal, uLightingDirection)*0.5+0.5, 0.0);\n"
+	"    if(vLightWeighting<0.5) vLightWeighting=0.5;\n"
 	"  }\n"
    "  vColor = aColor;\n"
    "}\n";
@@ -111,8 +111,8 @@ const std::string kTextureMeshVertexShader =
    "    vLightWeighting = 1.0;\n"
    "  } else {\n"
    "    vec3 transformedNormal = uN * aNormal;\n"
-    "    vLightWeighting = max(dot(transformedNormal, uLightingDirection), 0.0);\n"
-    "    if(vLightWeighting<0.1) vLightWeighting=0.1;\n"
+    "    vLightWeighting = max(dot(transformedNormal, uLightingDirection)*0.5+0.5, 0.0);\n"
+    "    if(vLightWeighting<0.5) vLightWeighting=0.5;\n"
    "  }\n"
    "}\n";
 const std::string kTextureMeshFragmentShader =
--- a/app/android/res/layout/activity_settings.xml
+++ b/app/android/res/layout/activity_settings.xml
@@ -217,6 +217,14 @@
 	   			android:entryValues="@array/pref_max_texture_distance_values"
 	   			android:defaultValue="@string/pref_default_max_texture_distance"/>
 	        
+	        <ListPreference 
+	            android:key="@string/pref_key_min_texture_cluster_size"
+	    		android:title="@string/pref_title_min_texture_cluster_size"
+	    		android:summary="@string/pref_summary_min_texture_cluster_size"
+	   			android:entries="@array/pref_min_texture_cluster_size_keys"
+	   			android:entryValues="@array/pref_min_texture_cluster_size_values"
+	   			android:defaultValue="@string/pref_default_min_texture_cluster_size"/>
+	        
 		    <SwitchPreference
 	            android:key="@string/pref_key_block_render"
 	            android:title="@string/pref_title_block_render"
--- a/app/android/res/values/strings.xml
+++ b/app/android/res/values/strings.xml
@@ -102,6 +102,8 @@
    <string name="pref_default_normal_k">6</string>
    <string name="pref_key_max_texture_distance">pref_key_max_texture_distance</string>
    <string name="pref_default_max_texture_distance">3</string>
+    <string name="pref_key_min_texture_cluster_size">pref_key_min_texture_cluster_size</string>
+    <string name="pref_default_min_texture_cluster_size">50</string>
    <string name="pref_key_block_render">pref_key_block_render</string>
    <string name="pref_default_block_render">false</string>
    <string name="pref_key_opt_depth">pref_key_opt_depth</string>
@@ -481,6 +483,8 @@
    <string name="pref_summary_normal_k">K-nearest neighbors used for normal computation when a mesh is created.</string>
    <string name="pref_title_max_texture_distance">Max Texture Distance</string>
    <string name="pref_summary_max_texture_distance">Maximum distance from a camera for polygons to be textured by this camera.</string>
+    <string name="pref_title_min_texture_cluster_size">Min Texture Cluster Size</string>
+    <string name="pref_summary_min_texture_cluster_size">Minimum polygon cluster size to be textured by a camera. This helps to filter sparse textured polygons.</string>
    <string name="pref_title_block_render">Block Rendering Thread While Exporting</string>
    <string name="pref_summary_block_render">This decreases exporting time, but freezes rendering while exporting. This also clears temporary the rendered clouds/meshes from memory during exporting, this can be useful to avoid out of memory errors.</string>

@@ -543,7 +547,25 @@
        <item>"2.5"</item>
        <item>"2"</item>
    </string-array>
-
+    <string-array name="pref_min_texture_cluster_size_keys">
+        <item>"Disabled"</item>
+        <item>"1000"</item>
+        <item>"500"</item>
+        <item>"200"</item>
+        <item>"100"</item>
+        <item>"50"</item>
+        <item>"10"</item>
+    </string-array>
+    <string-array name="pref_min_texture_cluster_size_values">
+        <item>"0"</item>
+        <item>"1000"</item>
+        <item>"500"</item>
+        <item>"200"</item>
+        <item>"100"</item>
+        <item>"50"</item>
+        <item>"10"</item>
+    </string-array>
+    
    <string name="pref_title_optimized">Optimized</string>
    <string name="pref_title_opt_voxel">Voxel Size</string>
    <string name="pref_summary_opt_voxel">Increasing this can reduce reconstruction time at the cost of less geometry precision.</string>
--- a/app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+++ b/app/android/src/com/introlab/rtabmap/RTABMapActivity.java
@@ -1165,8 +1165,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 			mButtonShareOnSketchfab.setVisibility(View.VISIBLE);
 			mItemSave.setEnabled(mButtonPause.isChecked());
 			mItemExport.setEnabled(mButtonPause.isChecked() && !mItemDataRecorderMode.isChecked());
-			mItemOpen.setEnabled(mButtonPause.isChecked() && !mItemDataRecorderMode.isChecked());
-			mItemPostProcessing.setEnabled(mButtonPause.isChecked() && !mItemDataRecorderMode.isChecked());
+			mItemOpen.setEnabled(false);
+			mItemPostProcessing.setEnabled(false);
 			mItemSettings.setEnabled(true);
 			mItemReset.setEnabled(true);
 			mItemModes.setEnabled(true);
@@ -1721,6 +1721,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		final int textureSize = isOBJ?Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_texture_size), getString(R.string.pref_default_texture_size))):0;
 		final int normalK = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_normal_k), getString(R.string.pref_default_normal_k)));
 		final float maxTextureDistance = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_max_texture_distance), getString(R.string.pref_default_max_texture_distance)));
+		final int minTextureClusterSize = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_min_texture_cluster_size), getString(R.string.pref_default_min_texture_cluster_size)));
 		final float optimizedVoxelSize = cloudVoxelSize;
 		final int optimizedDepth = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_opt_depth), getString(R.string.pref_default_opt_depth)));
 		final float optimizedColorRadius = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_opt_color_radius), getString(R.string.pref_default_opt_color_radius)));
@@ -1752,7 +1753,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 						meshing,
 						textureSize,
 						normalK,
-						maxTextureDistance,
 						optimized,
 						optimizedVoxelSize,
 						optimizedDepth,
@@ -1760,6 +1760,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 						optimizedColorRadius,
 						optimizedCleanWhitePolygons,
 						optimizedColorWhitePolygons,
+						maxTextureDistance,
+						minTextureClusterSize,
 						blockRendering);
 				runOnUiThread(new Runnable() {
 					public void run() {
--- a/app/android/src/com/introlab/rtabmap/RTABMapLib.java
+++ b/app/android/src/com/introlab/rtabmap/RTABMapLib.java
@@ -94,7 +94,6 @@ public class RTABMapLib
    		boolean meshing,
    		int textureSize,
    		int normalK,
-    		float maxTextureDistance,
    		boolean optimized,
    		float optimizedVoxelSize,
    		int optimizedDepth,
@@ -102,6 +101,8 @@ public class RTABMapLib
    		float optimizedColorRadius,
    		boolean optimizedCleanWhitePolygons,
    		boolean optimizedColorWhitePolygons,
+    		float optimizedMaxTextureDistance,
+    		int optimizedMinTextureClusterSize,
    		boolean blockRendering);
    public static native boolean postExportation(boolean visualize);
    public static native int postProcessing(int approach);
--- a/app/android/src/com/introlab/rtabmap/SettingsActivity.java
+++ b/app/android/src/com/introlab/rtabmap/SettingsActivity.java
@@ -50,6 +50,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
        ((Preference)findPreference(getString(R.string.pref_key_texture_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_texture_size))).getEntry() + ") "+getString(R.string.pref_summary_texture_size));
        ((Preference)findPreference(getString(R.string.pref_key_normal_k))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_normal_k))).getEntry() + ") "+getString(R.string.pref_summary_normal_k));
        ((Preference)findPreference(getString(R.string.pref_key_max_texture_distance))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_max_texture_distance))).getEntry() + ") "+getString(R.string.pref_summary_max_texture_distance));
+        ((Preference)findPreference(getString(R.string.pref_key_min_texture_cluster_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_min_texture_cluster_size))).getEntry() + ") "+getString(R.string.pref_summary_min_texture_cluster_size));

        ((Preference)findPreference(getString(R.string.pref_key_opt_depth))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_depth))).getEntry() + ") "+getString(R.string.pref_summary_opt_depth));
        ((Preference)findPreference(getString(R.string.pref_key_opt_color_radius))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_color_radius))).getEntry() + ") "+getString(R.string.pref_summary_opt_color_radius));
@@ -84,6 +85,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
        	if(key.compareTo(getString(R.string.pref_key_texture_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_texture_size));
        	if(key.compareTo(getString(R.string.pref_key_normal_k))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_normal_k));
        	if(key.compareTo(getString(R.string.pref_key_max_texture_distance))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_max_texture_distance));
+        	if(key.compareTo(getString(R.string.pref_key_min_texture_cluster_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_min_texture_cluster_size));

        	if(key.compareTo(getString(R.string.pref_key_opt_depth))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_depth));
        	if(key.compareTo(getString(R.string.pref_key_opt_color_radius))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_color_radius));