Add directional light to scene_system #762
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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.
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also, this may address #204 |
agalbachicar
previously approved these changes
Mar 10, 2021
| @@ -39,6 +41,15 @@ class SceneSystem : public drake::systems::LeafSystem<double> { | |||
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| int get_updated_pose_models_input_port_index() const { return updated_pose_models_input_port_index_; } | |||
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| // 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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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.