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Add directional light to scene_system #762

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merged 2 commits into from
Mar 12, 2021

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scpeters
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@scpeters scpeters commented Mar 9, 2021

Use hard-coded light parameters copied from visualizer0. The visualizer0 render_widget will need to be updated in order to parse this portion of the scene message.

This doesn't fix the textures, but it at least makes the shape of the vehicles more visible, so the visualizer is much more functional. I will post a screenshot.

Use hard-coded light parameters copied from visualizer0.
The visualizer0 render_widget will need to be updated
in order to parse this portion of the scene message.
@scpeters scpeters requested a review from agalbachicar March 9, 2021 20:20
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scpeters commented Mar 9, 2021

Screenshot from 2021-03-09 12-20-18

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scpeters commented Mar 9, 2021

also, this may address #204

agalbachicar
agalbachicar previously approved these changes Mar 10, 2021
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LGTM

@@ -39,6 +41,15 @@ class SceneSystem : public drake::systems::LeafSystem<double> {

int get_updated_pose_models_input_port_index() const { return updated_pose_models_input_port_index_; }

// This is the color used by the directional light added to each scene.
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Would you make these three variables static?

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done in 247ad17

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LGTM

@scpeters scpeters merged commit 0187e3a into master Mar 12, 2021
@scpeters scpeters deleted the scpeters/publish_directional_light branch March 12, 2021 17:23
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2 participants