Added texture/color blending option directly in the app. Added LAZ export option.

2026-09-02 17:40:23 +08:00 · 2025-03-10 21:35:42 -07:00
parent 1b0cdaab2b
commit fe5fa434c0
13 changed files with 79 additions and 9 deletions
--- a/app/android/jni/RTABMapApp.cpp
+++ b/app/android/jni/RTABMapApp.cpp
@@ -2926,6 +2926,10 @@ void RTABMapApp::setWireframe(bool enabled)
 {
 	main_scene_.setWireframe(enabled);
 }
+void RTABMapApp::setTextureColorSeamsHidden(bool hidden)
+{
+    main_scene_.setTextureColorSeamsHidden(hidden);
+}

 void RTABMapApp::setLocalizationMode(bool enabled)
 {
@@ -3113,7 +3117,7 @@ void RTABMapApp::setDepthConfidence(int value)
 void RTABMapApp::setExportPointCloudFormat(const std::string & format)
 {
 #if defined(RTABMAP_PDAL) || defined(RTABMAP_LIBLAS)
-    if(format == "las") {
+    if(format == "las" || format == "laz") {
        exportPointCloudFormat_ = format;
    }
    else
@@ -4205,9 +4209,9 @@ bool RTABMapApp::writeExportedMesh(const std::string & directory, const std::str
 	if(polygonMesh->cloud.data.size())
 	{
 #if defined(RTABMAP_PDAL) || defined(RTABMAP_LIBLAS)
-        if(polygonMesh->polygons.empty() && exportPointCloudFormat_ == "las") {
+        if(polygonMesh->polygons.empty() && (exportPointCloudFormat_ == "las" || exportPointCloudFormat_ == "laz")) {
            // Point cloud LAS
-            std::string filePath = directory + UDirectory::separator() + name + ".las";
+            std::string filePath = directory + UDirectory::separator() + name + (exportPointCloudFormat_ == "las"? ".las" : ".laz");
            LOGI("Saving las (%d vertices) to %s.", (int)polygonMesh->cloud.data.size()/polygonMesh->cloud.point_step, filePath.c_str());
            pcl::PointCloud<pcl::PointXYZRGB> output;
            pcl::fromPCLPointCloud2(polygonMesh->cloud, output);
--- a/app/android/jni/RTABMapApp.h
+++ b/app/android/jni/RTABMapApp.h
@@ -128,6 +128,7 @@ class RTABMapApp : public UEventsHandler {
  void setLighting(bool enabled);
  void setBackfaceCulling(bool enabled);
  void setWireframe(bool enabled);
+  void setTextureColorSeamsHidden(bool hidden);
  void setLocalizationMode(bool enabled);
  void setTrajectoryMode(bool enabled);
  void setGraphOptimization(bool enabled);
--- a/app/android/jni/point_cloud_drawable.cpp
+++ b/app/android/jni/point_cloud_drawable.cpp
@@ -231,12 +231,22 @@ const std::string kTextureMeshFragmentShader =
 	"uniform float uGainR;\n"
 	"uniform float uGainG;\n"
 	"uniform float uGainB;\n"
+	"uniform int uHideSeams;\n"
 	"varying vec3 vColor;\n"
    "varying vec2 vTexCoord;\n"
 	"varying float vLightWeighting;\n"
 	""
    "void main() {\n"
-    "  vec4 textureColor = texture2D(uTexture, vTexCoord) * vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
+	"  vec4 textureColor;\n"
+	"  if(uHideSeams==1) {\n"
+	"    if(vTexCoord.x>0.99 && vTexCoord.y>0.99) {\n"
+	"      textureColor = vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
+	"    } else {\n"
+    "      textureColor = texture2D(uTexture, vTexCoord);\n"
+	"    }\n"
+    "  } else {\n"
+    "    textureColor = texture2D(uTexture, vTexCoord) * vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
+    "  }\n"
 	"  gl_FragColor = vec4(textureColor.r * uGainR * vLightWeighting, textureColor.g * uGainG * vLightWeighting, textureColor.b * uGainB * vLightWeighting, textureColor.a);\n"
    "}\n";
 const std::string kTextureMeshBlendingFragmentShader =
@@ -1016,7 +1026,8 @@ void PointCloudDrawable::Render(
 		float nearClipPlane,
 	    float farClipPlane,
 		bool packDepthToColorChannel,
-		bool wireFrame) const
+		bool wireFrame,
+        bool hideSeams) const
 {
 	if(vertex_buffer_ && nPoints_ && visible_ && !shaderPrograms_.empty())
 	{
@@ -1135,6 +1146,12 @@ void PointCloudDrawable::Render(

 				attribute_texture = glGetAttribLocation(program, "aTexCoord");
 				glEnableVertexAttribArray(attribute_texture);
+                
+                if(depthTexture == 0)
+                {
+                    GLuint hideSeams_handle = glGetUniformLocation(program, "uHideSeams");
+                    glUniform1i(hideSeams_handle, hideSeams?1:0);
+                }
 			}

            attribute_color = glGetAttribLocation(program, "aColor");
--- a/app/android/jni/point_cloud_drawable.h
+++ b/app/android/jni/point_cloud_drawable.h
@@ -98,7 +98,8 @@ private:
 		  float nearClipPlane = 0, // nonnull if depthTexture>0
 		  float farClipPlane = 0,  // nonnull if depthTexture>0
 		  bool packDepthToColorChannel = false,
-		  bool wireFrame = false) const;
+		  bool wireFrame = false,
+          bool hideSeams = false) const;

 private:
  template<class PointT>
--- a/app/android/jni/scene.cpp
+++ b/app/android/jni/scene.cpp
@@ -93,6 +93,7 @@ Scene::Scene() :
 		lighting_(false),
 		backfaceCulling_(true),
 		wireFrame_(false),
+		textureColorSeamsHidden_(false),
 		r_(0.0f),
 		g_(0.0f),
 		b_(0.0f),
@@ -674,7 +675,7 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 				cloud->getPose().z() - openglCamera.z());
 		float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];

-		cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane(), false, wireFrame_);
+		cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane(), false, wireFrame_, textureColorSeamsHidden_);
 	}
    
    if(quads_.find(55556)!=quads_.end())
--- a/app/android/jni/scene.h
+++ b/app/android/jni/scene.h
@@ -193,6 +193,7 @@ class Scene {
  void setLighting(bool enabled) {lighting_ = enabled;}
  void setBackfaceCulling(bool enabled) {backfaceCulling_ = enabled;}
  void setWireframe(bool enabled) {wireFrame_ = enabled;}
+  void setTextureColorSeamsHidden(bool hidden) {textureColorSeamsHidden_ = hidden;}
  void setBackgroundColor(float r, float g, float b) {r_=r; g_=g; b_=b;} // 0.0f <> 1.0f
  void setGridColor(float r, float g, float b);

@@ -255,6 +256,7 @@ class Scene {
  bool lighting_;
  bool backfaceCulling_;
  bool wireFrame_;
+  bool textureColorSeamsHidden_;
  float r_;
  float g_;
  float b_;
--- a/app/ios/RTABMapApp.xcodeproj/project.pbxproj
+++ b/app/ios/RTABMapApp.xcodeproj/project.pbxproj
@@ -16,6 +16,7 @@
 		4E2C516825A63119005CEDBD /* VerticalScrollerView.swift in Sources */ = {isa = PBXBuildFile; fileRef = 4E2C516625A63119005CEDBD /* VerticalScrollerView.swift */; };
 		4E8B155426273A580037FC53 /* Zip in Frameworks */ = {isa = PBXBuildFile; productRef = 4E8B155326273A580037FC53 /* Zip */; };
 		4EB1A66625A0D90B0043C7BF /* RTABMap.swift in Sources */ = {isa = PBXBuildFile; fileRef = 4EB1A66525A0D90B0043C7BF /* RTABMap.swift */; };
+		4ED73AD12D7FECF3007899C2 /* liblaszip.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4ED73AD02D7FECF3007899C2 /* liblaszip.a */; };
 		4EE016B3259BE441008CCE65 /* ViewController.swift in Sources */ = {isa = PBXBuildFile; fileRef = 4EE016AF259BE441008CCE65 /* ViewController.swift */; };
 		4EE016B4259BE441008CCE65 /* SceneDelegate.swift in Sources */ = {isa = PBXBuildFile; fileRef = 4EE016B0259BE441008CCE65 /* SceneDelegate.swift */; };
 		4EE016B9259BE449008CCE65 /* AppDelegate.swift in Sources */ = {isa = PBXBuildFile; fileRef = 4EE016B8259BE449008CCE65 /* AppDelegate.swift */; };
@@ -171,6 +172,7 @@
 		4E2C516625A63119005CEDBD /* VerticalScrollerView.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; name = VerticalScrollerView.swift; path = RTABMapApp/VerticalScrollerView.swift; sourceTree = "<group>"; };
 		4E401BE825CC92C100240A56 /* ProgressionStatus.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; name = ProgressionStatus.h; path = ../android/jni/ProgressionStatus.h; sourceTree = "<group>"; };
 		4EB1A66525A0D90B0043C7BF /* RTABMap.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; name = RTABMap.swift; path = RTABMapApp/RTABMap.swift; sourceTree = "<group>"; };
+		4ED73AD02D7FECF3007899C2 /* liblaszip.a */ = {isa = PBXFileReference; lastKnownFileType = archive.ar; name = liblaszip.a; path = RTABMapApp/Libraries/lib/liblaszip.a; sourceTree = "<group>"; };
 		4EE015C2259A2AF0008CCE65 /* RTABMapApp.app */ = {isa = PBXFileReference; explicitFileType = wrapper.application; includeInIndex = 0; path = RTABMapApp.app; sourceTree = BUILT_PRODUCTS_DIR; };
 		4EE016AF259BE441008CCE65 /* ViewController.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; name = ViewController.swift; path = RTABMapApp/ViewController.swift; sourceTree = "<group>"; };
 		4EE016B0259BE441008CCE65 /* SceneDelegate.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; name = SceneDelegate.swift; path = RTABMapApp/SceneDelegate.swift; sourceTree = "<group>"; };
@@ -355,6 +357,7 @@
 			buildActionMask = 2147483647;
 			files = (
 				4EFAA9432CAE4E960055DA51 /* liblas.a in Frameworks */,
+				4ED73AD12D7FECF3007899C2 /* liblaszip.a in Frameworks */,
 				4EFD0F50259D67D900575D88 /* liblibwebp.a in Frameworks */,
 				4EFD0F51259D67D900575D88 /* liblibpng.a in Frameworks */,
 				4EFD0F52259D67D900575D88 /* liblibjpeg-turbo.a in Frameworks */,
@@ -506,6 +509,7 @@
 		4EFD0B2A259D4DE900575D88 /* Frameworks */ = {
 			isa = PBXGroup;
 			children = (
+				4ED73AD02D7FECF3007899C2 /* liblaszip.a */,
 				4EFAA9422CAE4E960055DA51 /* liblas.a */,
 				4EFD0F4D259D67D900575D88 /* liblibjpeg-turbo.a */,
 				4EFD0F4C259D67D900575D88 /* liblibpng.a */,
--- a/app/ios/RTABMapApp/NativeWrapper.cpp
+++ b/app/ios/RTABMapApp/NativeWrapper.cpp
@@ -435,6 +435,13 @@ void setWireframeNative(const void *object, bool enabled)
    else
        UERROR("object is null!");
 }
+void setTextureColorSeamsHiddenNative(const void *object, bool hidden)
+{
+    if(object)
+        native(object)->setTextureColorSeamsHidden(hidden);
+    else
+        UERROR("object is null!");
+}
 void setLocalizationModeNative(const void *object, bool enabled)
 {
    if(object)
--- a/app/ios/RTABMapApp/NativeWrapper.hpp
+++ b/app/ios/RTABMapApp/NativeWrapper.hpp
@@ -91,6 +91,7 @@ void setGridRotationNative(const void *object, float value);
 void setLightingNative(const void *object, bool enabled);
 void setBackfaceCullingNative(const void *object, bool enabled);
 void setWireframeNative(const void *object, bool enabled);
+void setTextureColorSeamsHiddenNative(const void *object, bool hidden);
 void setLocalizationModeNative(const void *object, bool enabled);
 void setDataRecorderModeNative(const void *object, bool enabled);
 void setTrajectoryModeNative(const void *object, bool enabled);
--- a/app/ios/RTABMapApp/RTABMap.swift
+++ b/app/ios/RTABMapApp/RTABMap.swift
@@ -426,6 +426,9 @@ class RTABMap {
    func setWireframe(enabled: Bool) {
        setWireframeNative(native_rtabmap, enabled)
    }
+    func setTextureColorSeamsHidden(hidden: Bool) {
+        setTextureColorSeamsHiddenNative(native_rtabmap, hidden)
+    }
    func setLocalizationMode(enabled: Bool) {
        setLocalizationModeNative(native_rtabmap, enabled)
    }
--- a/app/ios/RTABMapApp/ViewController.swift
+++ b/app/ios/RTABMapApp/ViewController.swift
@@ -98,6 +98,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
    private var wireframeShown: Bool = false
    private var backfaceShown: Bool = false
    private var lightingShown: Bool = false
+    private var textureColorSeamsShown: Bool = false
    private var mHudVisible: Bool = true
    private var mLastTimeHudShown: DispatchTime = .now()
    private var mMenuOpened: Bool = false
@@ -1030,6 +1031,11 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
        
        // Camera menu
        let renderingMenu = UIMenu(title: "Rendering", options: .displayInline, children: [
+            UIAction(title: "Texture/Color Blend", image: self.textureColorSeamsShown ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: self.mState == .STATE_VISUALIZING || self.mState == .STATE_VISUALIZING_CAMERA || self.mState == .STATE_VISUALIZING_AND_MEASURING || self.mState == .STATE_VISUALIZING_WHILE_LOADING ? [] : .disabled, handler: { _ in
+                self.textureColorSeamsShown = !self.textureColorSeamsShown
+                self.rtabmap!.setTextureColorSeamsHidden(hidden: !self.textureColorSeamsShown)
+                self.resetNoTouchTimer(true)
+            }),
            UIAction(title: "Wireframe", image: self.wireframeShown ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), handler: { _ in
                self.wireframeShown = !self.wireframeShown
                self.rtabmap!.setWireframe(enabled: self.wireframeShown)
@@ -1552,7 +1558,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
        let format = defaults.string(forKey: "ExportPointCloudFormat")!;
        DispatchQueue.main.async {
            self.statusLabel.textColor = bgColor>=0.6 ? UIColor(white: 0.0, alpha: 1) : UIColor(white: 1.0, alpha: 1)
-            self.exportOBJPLYButton.setTitle("Export OBJ-\(format == "las" ? "LAS" : "PLY")", for: .normal)
+            self.exportOBJPLYButton.setTitle("Export OBJ-\(format == "las" ? "LAS" : format == "laz" ? "LAZ" : "PLY")", for: .normal)
        }
    
        rtabmap!.setClusterRatio(value: defaults.float(forKey: "NoiseFilteringRatio"));
--- a/app/ios/RTABMapApp/install_deps.sh
+++ b/app/ios/RTABMapApp/install_deps.sh
@@ -222,6 +222,27 @@ cd $pwd
 #rm -rf opencv opencv_contrib
 fi

+# LAZ (dependency for liblas)
+# LAS
+if [ ! -e $prefix/include/laszip ]
+then
+if [ ! -e LASzip ]
+then
+  git clone https://github.com/LASzip/LASzip.git
+  cd LASzip
+  git checkout 2.0.1
+else
+  cd LASzip
+fi
+sed -i '' 's/add_subdirectory(tools)/#add_subdirectory(tools)/g' CMakeLists.txt
+mkdir -p build
+cd build
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DCMAKE_FIND_ROOT_PATH=$prefix -DBUILD_STATIC=ON ..
+cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
+cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
+cd $pwd
+fi
+
 # LAS
 if [ ! -e $prefix/include/liblas ]
 then
@@ -233,7 +254,7 @@ cd libLAS
 sed -i '' 's/SHARED/STATIC/g' src/CMakeLists.txt
 mkdir -p build
 cd build
-cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DCMAKE_FIND_ROOT_PATH=$prefix -DWITH_UTILITIES=OFF -DWITH_TESTS=OFF -DWITH_GEOTIFF=OFF ..
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DCMAKE_FIND_ROOT_PATH=$prefix -DWITH_UTILITIES=OFF -DWITH_TESTS=OFF -DWITH_GEOTIFF=OFF -DWITH_LASZIP=ON -DWITH_STATIC_LASZIP=ON ..
 cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
 cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
 cd $pwd
--- a/app/ios/Settings.bundle/Assembling.plist
+++ b/app/ios/Settings.bundle/Assembling.plist
@@ -393,11 +393,13 @@
 			<array>
 				<string>PLY</string>
 				<string>LAS</string>
+				<string>LAZ</string>
 			</array>
 			<key>Values</key>
 			<array>
 				<string>ply</string>
 				<string>las</string>
+				<string>laz</string>
 			</array>
 		</dict>
 	</array>