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CloudViewer: set minimum ambiant light of 0.5 for all meshes

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matlabbe
2018-08-23 16:18:04 -04:00
parent 110f4a99ee
commit cbf14bfa08
1 changed files with 5 additions and 0 deletions
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5
guilib/src/CloudViewer.cpp
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@@ -636,6 +636,7 @@ bool CloudViewer::addCloudMesh(
UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size()); UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
if(_visualizer->addPolygonMesh<pcl::PointXYZ>(cloud, polygons, id, 1)) if(_visualizer->addPolygonMesh<pcl::PointXYZ>(cloud, polygons, id, 1))
{ {
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetAmbient(0.5);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked()); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked()); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
@@ -669,6 +670,7 @@ bool CloudViewer::addCloudMesh(
UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size()); UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
if(_visualizer->addPolygonMesh<pcl::PointXYZRGB>(cloud, polygons, id, 1)) if(_visualizer->addPolygonMesh<pcl::PointXYZRGB>(cloud, polygons, id, 1))
{ {
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetAmbient(0.5);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked()); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked()); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
@@ -702,6 +704,7 @@ bool CloudViewer::addCloudMesh(
UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size()); UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
if(_visualizer->addPolygonMesh<pcl::PointXYZRGBNormal>(cloud, polygons, id, 1)) if(_visualizer->addPolygonMesh<pcl::PointXYZRGBNormal>(cloud, polygons, id, 1))
{ {
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetAmbient(0.5);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked()); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked()); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
@@ -734,6 +737,7 @@ bool CloudViewer::addCloudMesh(
UDEBUG("Adding %s with %d polygons", id.c_str(), (int)mesh->polygons.size()); UDEBUG("Adding %s with %d polygons", id.c_str(), (int)mesh->polygons.size());
if(_visualizer->addPolygonMesh(*mesh, id, 1)) if(_visualizer->addPolygonMesh(*mesh, id, 1))
{ {
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetAmbient(0.5);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked()); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked()); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked()); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
@@ -1180,6 +1184,7 @@ bool CloudViewer::addTextureMesh (
// Save the viewpoint transformation matrix to the global actor map // Save the viewpoint transformation matrix to the global actor map
(*_visualizer->getCloudActorMap())[id].viewpoint_transformation_ = transformation; (*_visualizer->getCloudActorMap())[id].viewpoint_transformation_ = transformation;
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetAmbient(0.5);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked()); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked()); _visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());