Add LidarVisual point colors for Ogre1 #124
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Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
ogre/src/OgreLidarVisual.cc
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| this->dataPtr->pointColors.clear(); | ||
| for (u_int64_t i = 0; i < this->dataPtr->lidarPoints.size(); i++) | ||
| { | ||
| this->dataPtr->pointColors.push_back(ignition::math::Color::White); |
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we should keep the color consistent and set it to the same color as Lidar/BlueRay.
| @@ -60,6 +60,11 @@ namespace ignition | |||
| public: virtual void SetPoints( | |||
| const std::vector<double> &_points) override; | |||
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| // Documentation inherited | |||
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can you add a note here that it currently only affects lidar visuals with type LVT_POINTS?
ogre/src/OgreLidarVisual.cc
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| #else | ||
| Ogre::MaterialPtr mat = | ||
| Ogre::MaterialManager::getSingleton().getByName( | ||
| "Lidar/BlueRay"); | ||
| "PointCloudPoint"); |
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optimization suggestion: can you move the Ogre::MaterialManager::getSingleton().getByName calls outside the for loop so we don't have to search for the material every iteration of the loop.
same for the other materials like Lidar/BlueStrips, Lidar/TransBlack, Lidar/LightBlueStrips
Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
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there are some windows build errors, can you take a look? |
Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
ogre/src/OgreLidarVisual.cc
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| @@ -149,6 +152,26 @@ void OgreLidarVisual::ClearVisualData() | |||
| void OgreLidarVisual::SetPoints(const std::vector<double> &_points) | |||
| { | |||
| this->dataPtr->lidarPoints = _points; | |||
| this->dataPtr->pointColors.clear(); | |||
| for (auto i = 0ul; i < this->dataPtr->lidarPoints.size(); i++) | |||
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do you need an unsigned long? vector size() returns size_t which is an unsigned integer
this should work
for (unsigned int i = 0u; i < this->dataPtr->lidarPoints.size(); ++i)
Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
@iche033 Please refer to this PR for point color material and implementation, Thanks
EDIT:- adding image
To use this you can do the following :-
lidarPointer->SetPoints(points_vector, colors_vector);