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

2026-09-03 01:50:24 +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/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>