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Add vertex color support to mesh_loader #1144

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Add vertex color support to mesh_loader #1144

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41 changes: 30 additions & 11 deletions src/rviz/mesh_loader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@

#include <boost/filesystem.hpp>

#include "ogre_helpers/render_system.h"
#include "ogre_helpers/stl_loader.h"

#include <OgreMeshManager.h>
Expand Down Expand Up @@ -263,14 +264,21 @@ void buildMesh( const aiScene* scene, const aiNode* node,
offset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT3);
}

// vertex colors
if (input_mesh->HasVertexColors(0))
{
ROS_INFO("Mesh has vertex colors.");
vertex_decl->addElement(0, offset, Ogre::VET_COLOUR, Ogre::VES_DIFFUSE);
offset += Ogre::VertexElement::getTypeSize(Ogre::VET_COLOUR);
}

// texture coordinates (only support 1 for now)
if (input_mesh->HasTextureCoords(0))
{
vertex_decl->addElement(0, offset, Ogre::VET_FLOAT2, Ogre::VES_TEXTURE_COORDINATES, 0);
offset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT2);
}

// todo vertex colors

// allocate the vertex buffer
vertex_data->vertexCount = input_mesh->mNumVertices;
Expand All @@ -282,6 +290,9 @@ void buildMesh( const aiScene* scene, const aiNode* node,
vertex_data->vertexBufferBinding->setBinding(0, vbuf);
float* vertices = static_cast<float*>(vbuf->lock(Ogre::HardwareBuffer::HBL_DISCARD));

Ogre::RenderSystem* render_system = Ogre::Root::getSingleton().getRenderSystem();
Ogre::uint32 colour_tmp;

// Add the vertices
for (uint32_t j = 0; j < input_mesh->mNumVertices; j++)
{
Expand Down Expand Up @@ -314,6 +325,13 @@ void buildMesh( const aiScene* scene, const aiNode* node,
*vertices++ = input_mesh->mTextureCoords[0][j].x;
*vertices++ = input_mesh->mTextureCoords[0][j].y;
}

if (input_mesh->HasVertexColors(0))
{
const aiColor4D& c = input_mesh->mColors[0][j];
render_system->convertColourValue(Ogre::ColourValue(c.r, c.g, c.b), &colour_tmp);
memcpy(vertices++, &colour_tmp, sizeof(float));
}
}

// calculate index count
Expand Down Expand Up @@ -349,7 +367,7 @@ void buildMesh( const aiScene* scene, const aiNode* node,

ibuf->unlock();
}
else
else
{
// Else we have more than 65536 (2^16) vertices, so we must
// use a 32-bit index buffer (or subdivide the mesh, which
Expand Down Expand Up @@ -447,6 +465,7 @@ void loadMaterials(const std::string& resource_path,

Ogre::Technique* tech = mat->getTechnique(0);
Ogre::Pass* pass = tech->getPass(0);
pass->setVertexColourTracking(Ogre::TVC_DIFFUSE);
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this is impacting other meshes, e.g. rosrun rviz mesh_marker_test and you'll see some of the meshes flicker because of this change. I don't have a suggestion yet for a fix


aiMaterial *amat = scene->mMaterials[i];

Expand Down Expand Up @@ -559,24 +578,24 @@ void loadMaterials(const std::string& resource_path,


/*@brief - Get the scaling from units used in this mesh file to meters.

This function applies only to Collada files. It is necessary because
ASSIMP does not currently expose an api to retrieve the scaling factor.

@Param[in] resource_path - The url of a resource containing a mesh.

@Returns The scaling factor that converts the mesh to meters. Returns 1.0
for meshes which do not explicitly encode such a scaling.
for meshes which do not explicitly encode such a scaling.

*/

float getMeshUnitRescale(const std::string& resource_path)
{
static std::map<std::string, float> rescale_cache;



// Try to read unit to meter conversion ratio from mesh. Only valid in Collada XML formats.

// Try to read unit to meter conversion ratio from mesh. Only valid in Collada XML formats.
TiXmlDocument xmlDoc;
float unit_scale(1.0);
resource_retriever::Retriever retriever;
Expand All @@ -590,7 +609,7 @@ float getMeshUnitRescale(const std::string& resource_path)
ROS_ERROR("%s", e.what());
return unit_scale;
}

if (res.size == 0)
{
return unit_scale;
Expand Down Expand Up @@ -738,5 +757,5 @@ Ogre::MeshPtr loadMeshFromResource(const std::string& resource_path)

return Ogre::MeshPtr();
}

}