Feature/cgal visualizations

michaelpantic commented 5 years ago

Overview

Very simple RVIZ visualization for cgal_msgs/ProbabilisticMesh
No texturing, static ugly coloring so far
Includes script to publish a 1 triangle mesh:
Also includes creepy hand drawn cat logo for rviz (to be replaced later):

Problems to be fixed in the future:

No texturing
Colors can't be changed through RVIZ
Topic can't be changed once selected
Backface culling (i.e. mesh is transparent if seen from the side opposite the normal)
Normals are not read (currently determined by order of vertices as in ogre
See https://www.ogre3d.org/docs/manual17/manual_16.html , points cull_software / cull_hardware for a description of the culling and the current way the normal is set.

michaelpantic commented 5 years ago

Added Issue https://github.com/ethz-asl/cad-percept/issues/4 to keep track of improvements of this.

michaelpantic commented 5 years ago

Update: Fixed backface culling, can be changed by property. As per default it is off (Surfaces are rendered when seen from any side). Screenshot_2019-04-29_16-26-44

michaelpantic commented 5 years ago

Update 2: Color & Transparency are configurable now.

color Screenshot_2019-04-29_17-19-44

ethz-asl / cad-percept

Feature/cgal visualizations #3