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Disable culling for submaps and reduce overdraw. (#85) 

We disable backface culling so that submaps also show when looked at from
below.

We add a depth bias to move submaps further to the back, so that submaps
do not overdraw the visualization of laser scans which makes the latter
sometimes hard to see.
master
Wolfgang Hess 2016-10-06 16:53:31 +02:00 committed by GitHub
parent 1418902493
commit 0c8d6afc33
1 changed files with 2 additions and 0 deletions
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2
cartographer_rviz/src/drawable_submap.cc
View File

@ -67,6 +67,8 @@ DrawableSubmap::DrawableSubmap(const int submap_id, const int trajectory_id,
GetSubmapIdentifier(trajectory_id_, submap_id)); GetSubmapIdentifier(trajectory_id_, submap_id));
material_->setReceiveShadows(false); material_->setReceiveShadows(false);
material_->getTechnique(0)->setLightingEnabled(false); material_->getTechnique(0)->setLightingEnabled(false);
material_->setCullingMode(Ogre::CULL_NONE);
material_->setDepthBias(-1.f, 0.f);
material_->setDepthWriteEnabled(false); material_->setDepthWriteEnabled(false);
scene_node_->attachObject(manual_object_); scene_node_->attachObject(manual_object_);
connect(this, SIGNAL(RequestSucceeded()), this, SLOT(UpdateSceneNode())); connect(this, SIGNAL(RequestSucceeded()), this, SLOT(UpdateSceneNode()));