From e4f20675ef2fbdc8f102adab48365532ff82934f Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 25 Aug 2020 16:44:26 -0700 Subject: [PATCH] use true unlit black (zero) values for objects without reflectance map Signed-off-by: Ian Chen --- gazebo/rendering/DepthCamera.cc | 4 ++-- media/materials/scripts/gazebo.material | 13 +++++++++++++ 2 files changed, 15 insertions(+), 2 deletions(-) diff --git a/gazebo/rendering/DepthCamera.cc b/gazebo/rendering/DepthCamera.cc index 1769fabec6..38ca79615d 100644 --- a/gazebo/rendering/DepthCamera.cc +++ b/gazebo/rendering/DepthCamera.cc @@ -801,11 +801,11 @@ ReflectanceMaterialListener::ReflectanceMaterialListener(ScenePtr _scene) this->reflectanceMaterial = Ogre::MaterialManager::getSingleton().getByName(material); - material = "Gazebo/Black"; + material = "Gazebo/BlackUnlit"; Ogre::MaterialManager::getSingleton().load(material, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); this->blackMaterial = - Ogre::MaterialManager::getSingleton().getByName("Gazebo/Black"); + Ogre::MaterialManager::getSingleton().getByName("Gazebo/BlackUnlit"); } ///////////////////////////////////////////////// diff --git a/media/materials/scripts/gazebo.material b/media/materials/scripts/gazebo.material index 4d4a137137..d40d5fa086 100644 --- a/media/materials/scripts/gazebo.material +++ b/media/materials/scripts/gazebo.material @@ -240,6 +240,19 @@ material Gazebo/Black } } +material Gazebo/BlackUnlit +{ + technique + { + lighting off + pass + { + ambient 0 0 0 1 + diffuse 0 0 0 1 + specular 0 0 0 1 + } + } +} material Gazebo/Red {