Tango: added min texture cluster size option

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" />

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,
+										optimizedMaxTextureDistance,
-										50,
+										optimizedMinTextureClusterSize,
 										&progressionStatus_);
 								LOGI("Texturing... done! %fs", timer.ticks());
 

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);

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);
 }
 

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"
+	"    vLightWeighting = max(dot(transformedNormal, uLightingDirection)*0.5+0.5, 0.0);\n"
-	"    if(vLightWeighting<0.1) vLightWeighting=0.1;\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"
+    "    vLightWeighting = max(dot(transformedNormal, uLightingDirection)*0.5+0.5, 0.0);\n"
-    "    if(vLightWeighting<0.1) vLightWeighting=0.1;\n"
+    "    if(vLightWeighting<0.5) vLightWeighting=0.5;\n"
     "  }\n"
     "}\n";
 const std::string kTextureMeshFragmentShader =

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"

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>

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());
+			mItemOpen.setEnabled(false);
-			mItemPostProcessing.setEnabled(mButtonPause.isChecked() && !mItemDataRecorderMode.isChecked());
+			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() {

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);

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));

corelib/src/pcl18/surface/impl/texture_mapping.hpp

@@ -1193,51 +1193,49 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
 
 		// filter clusters
 		int clusterFaces = 0;
-		if(min_cluster_size_>0)
+
+		std::vector<pcl::Vertices> polygons(visibleFaces[current_cam].size());
+		std::vector<int> polygon_to_face_index(visibleFaces[current_cam].size());
+		oi =0;
+		for(std::map<int, FaceInfo>::iterator iter=visibleFaces[current_cam].begin(); iter!=visibleFaces[current_cam].end(); ++iter)
 		{
-			std::vector<pcl::Vertices> polygons(visibleFaces[current_cam].size());
+			polygons[oi].vertices.resize(3);
-			std::vector<int> polygon_to_face_index(visibleFaces[current_cam].size());
+			polygons[oi].vertices[0] = faces[iter->first].vertices[0];
-			oi =0;
+			polygons[oi].vertices[1] = faces[iter->first].vertices[1];
-			for(std::map<int, FaceInfo>::iterator iter=visibleFaces[current_cam].begin(); iter!=visibleFaces[current_cam].end(); ++iter)
+			polygons[oi].vertices[2] = faces[iter->first].vertices[2];
-			{
+			polygon_to_face_index[oi] = iter->first;
-				polygons[oi].vertices.resize(3);
+			++oi;
-				polygons[oi].vertices[0] = faces[iter->first].vertices[0];
+		}
-				polygons[oi].vertices[1] = faces[iter->first].vertices[1];
-				polygons[oi].vertices[2] = faces[iter->first].vertices[2];
-				polygon_to_face_index[oi] = iter->first;
-				++oi;
-			}
 
-			std::vector<std::set<int> > neighbors;
+		std::vector<std::set<int> > neighbors;
-			std::vector<std::set<int> > vertexToPolygons;
+		std::vector<std::set<int> > vertexToPolygons;
-			rtabmap::util3d::createPolygonIndexes(polygons,
+		rtabmap::util3d::createPolygonIndexes(polygons,
-					(int)camera_cloud->size(),
+				(int)camera_cloud->size(),
-					neighbors,
+				neighbors,
-					vertexToPolygons);
+				vertexToPolygons);
-			std::list<std::list<int> > clusters = rtabmap::util3d::clusterPolygons(
+		std::list<std::list<int> > clusters = rtabmap::util3d::clusterPolygons(
-					neighbors,
+				neighbors,
-					min_cluster_size_);
+				min_cluster_size_);
-			std::set<int> polygonsKept;
+		std::set<int> polygonsKept;
-			for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
+		for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
+		{
+			for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
 			{
-				for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
+				polygonsKept.insert(polygon_to_face_index[*jter]);
-				{
+				faceCameras[polygon_to_face_index[*jter]].push_back(current_cam);
-					polygonsKept.insert(polygon_to_face_index[*jter]);
-					faceCameras[polygon_to_face_index[*jter]].push_back(current_cam);
-				}
 			}
+		}
 
-			for(std::map<int, FaceInfo>::iterator iter=visibleFaces[current_cam].begin(); iter!=visibleFaces[current_cam].end();)
+		for(std::map<int, FaceInfo>::iterator iter=visibleFaces[current_cam].begin(); iter!=visibleFaces[current_cam].end();)
+		{
+			if(polygonsKept.find(iter->first) == polygonsKept.end())
 			{
-				if(polygonsKept.find(iter->first) == polygonsKept.end())
+				visibleFaces[current_cam].erase(iter++);
-				{
+				++clusterFaces;
-					visibleFaces[current_cam].erase(iter++);
+			}
-					++clusterFaces;
+			else
-				}
+			{
-				else
+				++iter;
-				{
-					++iter;
-				}
 			}
 		}