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

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This commit is contained in:
matlabbe
2025-03-10 21:35:42 -07:00
parent 1b0cdaab2b
commit fe5fa434c0
13 changed files with 79 additions and 9 deletions
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10
app/android/jni/RTABMapApp.cpp
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@@ -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);

1
app/android/jni/RTABMapApp.h
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@@ -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);

21
app/android/jni/point_cloud_drawable.cpp
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@@ -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");

3
app/android/jni/point_cloud_drawable.h
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@@ -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>

3
app/android/jni/scene.cpp
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@@ -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())

2
app/android/jni/scene.h
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@@ -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_;