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add enable lighitng property in polygon_array_display #686

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merged 1 commit into from
Sep 8, 2018
Merged

add enable lighitng property in polygon_array_display #686

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19 changes: 17 additions & 2 deletions jsk_rviz_plugins/src/polygon_array_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,10 @@ namespace jsk_rviz_plugins
"show normal", true,
"show normal direction",
this, SLOT(updateShowNormal()));
enable_lighting_property_ = new rviz::BoolProperty(
"enable lighting", true,
"enable lighting",
this, SLOT(updateEnableLighting()));
normal_length_property_ = new rviz::FloatProperty(
"normal length", 0.1,
"normal length",
Expand Down Expand Up @@ -125,8 +129,10 @@ namespace jsk_rviz_plugins
Ogre::MaterialPtr material
= Ogre::MaterialManager::getSingleton().create(ss.str(), "rviz");
material->setReceiveShadows(false);
material->getTechnique(0)->setLightingEnabled(true);
material->getTechnique(0)->setLightingEnabled(enable_lighting_);
material->getTechnique(0)->setAmbient(0.5, 0.5, 0.5);

//material->setCullingMode(Ogre::CULL_NONE);
materials_.push_back(material);
}
}
Expand Down Expand Up @@ -299,6 +305,7 @@ namespace jsk_rviz_plugins
void PolygonArrayDisplay::processPolygonMaterial(const size_t i)
{
Ogre::ColourValue color = getColor(i);
materials_[i]->getTechnique(0)->setLightingEnabled(enable_lighting_);
materials_[i]->getTechnique(0)->setAmbient(color * 0.5);
materials_[i]->getTechnique(0)->setDiffuse(color);
if (color.a < 0.9998) {
Expand All @@ -310,7 +317,7 @@ namespace jsk_rviz_plugins
materials_[i]->getTechnique(0)->setSceneBlending(Ogre::SBT_REPLACE);
materials_[i]->getTechnique(0)->setDepthWriteEnabled(true);
}

materials_[i]->getTechnique(0)->setAmbient(color * 0.5);
materials_[i]->getTechnique(0)->setDiffuse(color);
}
Expand All @@ -330,6 +337,7 @@ namespace jsk_rviz_plugins
{
Ogre::SceneNode* scene_node = scene_nodes_[i * 2];
Ogre::ManualObject* manual_object = manual_objects_[i * 2];
Ogre::ColourValue color = getColor(i);
scene_node->setPosition(position);
scene_node->setOrientation(orientation);
manual_object->clear();
Expand All @@ -354,10 +362,12 @@ namespace jsk_rviz_plugins
for (size_t j = 0; j < num_vertices; j++) {
Eigen::Vector3f v = triangle->getVertex(j);
manual_object->position(v[0], v[1], v[2]);
manual_object->colour(color.r, color.g, color.b, color.a);
}
for (int j = num_vertices - 1; j >= 0; j--) {
Eigen::Vector3f v = triangle->getVertex(j);
manual_object->position(v[0], v[1], v[2]);
manual_object->colour(color.r, color.g, color.b, color.a);
}
}
manual_object->end();
Expand Down Expand Up @@ -500,6 +510,11 @@ namespace jsk_rviz_plugins
}
}

void PolygonArrayDisplay::updateEnableLighting()
{
enable_lighting_ = enable_lighting_property_->getBool();
}

void PolygonArrayDisplay::updateNormalLength()
{
normal_length_ = normal_length_property_->getFloat();
Expand Down
3 changes: 3 additions & 0 deletions jsk_rviz_plugins/src/polygon_array_display.h
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Original file line number Diff line number Diff line change
Expand Up @@ -87,8 +87,10 @@ namespace jsk_rviz_plugins
// rviz::BoolProperty* auto_coloring_property_;
rviz::EnumProperty* coloring_property_;
rviz::BoolProperty* show_normal_property_;
rviz::BoolProperty* enable_lighting_property_;
rviz::FloatProperty* normal_length_property_;
bool only_border_;
bool enable_lighting_;
std::string coloring_method_;
bool show_normal_;
double normal_length_;
Expand All @@ -103,6 +105,7 @@ namespace jsk_rviz_plugins
void updateColoring();
void updateOnlyBorder();
void updateShowNormal();
void updateEnableLighting();
void updateNormalLength();
private:

Expand Down