diff --git a/src/rviz/mesh_loader.cpp b/src/rviz/mesh_loader.cpp index faba69a732..3082934055 100644 --- a/src/rviz/mesh_loader.cpp +++ b/src/rviz/mesh_loader.cpp @@ -209,7 +209,14 @@ void ResourceIOSystem::Close(Assimp::IOStream* stream) } // Mostly stolen from gazebo -void buildMesh(const aiScene* scene, const aiNode* node, const Ogre::MeshPtr& mesh, Ogre::AxisAlignedBox& aabb, float& radius, const float scale = 1.0) +/** @brief Recursive mesh-building function. + * @param scene is the assimp scene containing the whole mesh. + * @param node is the current assimp node, which is part of a tree of nodes being recursed over. + * @param material_table is indexed the same as scene->mMaterials[], and should have been filled out already by loadMaterials(). */ +void buildMesh( const aiScene* scene, const aiNode* node, + const Ogre::MeshPtr& mesh, + Ogre::AxisAlignedBox& aabb, float& radius, const float scale, + std::vector& material_table ) { if (!node) { @@ -369,11 +376,13 @@ void buildMesh(const aiScene* scene, const aiNode* node, const Ogre::MeshPtr& me ibuf->unlock(); } vbuf->unlock(); + + submesh->setMaterialName(material_table[input_mesh->mMaterialIndex]->getName()); } for (uint32_t i=0; i < node->mNumChildren; ++i) { - buildMesh(scene, node->mChildren[i], mesh, aabb, radius, scale); + buildMesh(scene, node->mChildren[i], mesh, aabb, radius, scale, material_table); } } @@ -417,16 +426,22 @@ void loadTexture(const std::string& resource_path) } // Mostly cribbed from gazebo -void loadMaterialsForMesh(const std::string& resource_path, const aiScene* scene, const Ogre::MeshPtr& mesh) +/** @brief Load all materials needed by the given scene. + * @param resource_path the path to the resource from which this scene is being loaded. + * loadMaterials() assumes textures for this scene are relative to the same directory that this scene is in. + * @param scene the assimp scene to load materials for. + * @param material_table_out Reference to the resultant material table, filled out by this function. Is indexed the same as scene->mMaterials[]. + */ +void loadMaterials(const std::string& resource_path, + const aiScene* scene, + std::vector& material_table_out ) { - std::vector material_lookup; - for (uint32_t i = 0; i < scene->mNumMaterials; i++) { std::stringstream ss; ss << resource_path << "Material" << i; Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().create(ss.str(), ROS_PACKAGE_NAME, true); - material_lookup.push_back(mat); + material_table_out.push_back(mat); Ogre::Technique* tech = mat->getTechnique(0); Ogre::Pass* pass = tech->getPass(0); @@ -543,11 +558,6 @@ void loadMaterialsForMesh(const std::string& resource_path, const aiScene* scene specular.a = diffuse.a; mat->setSpecular(specular); } - - for (uint32_t i = 0; i < mesh->getNumSubMeshes(); ++i) - { - mesh->getSubMesh(i)->setMaterialName(material_lookup[scene->mMeshes[i]->mMaterialIndex]->getName()); - } } @@ -627,19 +637,20 @@ Ogre::MeshPtr meshFromAssimpScene(const std::string& name, const aiScene* scene) return Ogre::MeshPtr(); } + std::vector material_table; + loadMaterials(name, scene, material_table); + Ogre::MeshPtr mesh = Ogre::MeshManager::getSingleton().createManual(name, ROS_PACKAGE_NAME); Ogre::AxisAlignedBox aabb(Ogre::AxisAlignedBox::EXTENT_NULL); float radius = 0.0f; float scale = getMeshUnitRescale(name); - buildMesh(scene, scene->mRootNode, mesh, aabb, radius, scale); + buildMesh(scene, scene->mRootNode, mesh, aabb, radius, scale, material_table); mesh->_setBounds(aabb); mesh->_setBoundingSphereRadius(radius); mesh->buildEdgeList(); - loadMaterialsForMesh(name, scene, mesh); - mesh->load(); return mesh; diff --git a/src/test/kitchen-mesh-marker.yaml b/src/test/kitchen-mesh-marker.yaml new file mode 100644 index 0000000000..0b4984dda3 --- /dev/null +++ b/src/test/kitchen-mesh-marker.yaml @@ -0,0 +1,13 @@ +header: { seq: 0, stamp: { secs: 0, nsecs: 0 }, frame_id: base_link } +ns: chunk +id: 0 +type: 10 +action: 0 +pose: + position: { x: 0, y: 0, z: 0 } + orientation: { x: 0, y: 0, z: 0, w: 1 } +color: { r: 1, g: 1, b: 1, a: 1 } +scale: { x: 1, y: 1, z: 1 } +frame_locked: False +mesh_resource: 'package://rviz/src/test/meshes/kitchen/models/dada.dae' +mesh_use_embedded_materials: True diff --git a/src/test/meshes/kitchen/doc.kml b/src/test/meshes/kitchen/doc.kml new file mode 100644 index 0000000000..5f5f761bff --- /dev/null +++ b/src/test/meshes/kitchen/doc.kml @@ -0,0 +1,58 @@ + + + + dada + Google SketchUp 6.4.112]]> + SketchUp +1 + +268.621 +81.6735 +40.01701040206847 +-105.2828779909634 +6.259231800506925 +0.9128535643034782 + + +Tour + +Camera +1 + +268.621 +81.6735 +40.01701040206847 +-105.2828779909634 +6.259231800506925 +0.9128535643034782 + + + + + Model + + + + relativeToGround + + -105.283000000000 + 40.017000000000 + 0.000000000000 + + + 0 + 0 + 0 + + + 1.0 + 1.0 + 1.0 + + + models/dada.dae + + + + diff --git a/src/test/meshes/kitchen/images/texture0.jpg b/src/test/meshes/kitchen/images/texture0.jpg new file mode 100644 index 0000000000..2008ea46cb Binary files /dev/null and b/src/test/meshes/kitchen/images/texture0.jpg differ diff --git a/src/test/meshes/kitchen/images/texture1.jpg b/src/test/meshes/kitchen/images/texture1.jpg new file mode 100644 index 0000000000..51d99e7def Binary files /dev/null and b/src/test/meshes/kitchen/images/texture1.jpg differ diff --git a/src/test/meshes/kitchen/images/texture2.jpg b/src/test/meshes/kitchen/images/texture2.jpg new file mode 100644 index 0000000000..fa1e393813 Binary files /dev/null and b/src/test/meshes/kitchen/images/texture2.jpg differ diff --git a/src/test/meshes/kitchen/images/texture3.jpg b/src/test/meshes/kitchen/images/texture3.jpg new file mode 100644 index 0000000000..5915210d5b Binary files /dev/null and b/src/test/meshes/kitchen/images/texture3.jpg differ diff --git a/src/test/meshes/kitchen/images/texture4.jpg b/src/test/meshes/kitchen/images/texture4.jpg new file mode 100644 index 0000000000..1dcf3dd896 Binary files /dev/null and b/src/test/meshes/kitchen/images/texture4.jpg differ diff --git a/src/test/meshes/kitchen/images/texture5.jpg b/src/test/meshes/kitchen/images/texture5.jpg new file mode 100644 index 0000000000..b074720b28 Binary files /dev/null and b/src/test/meshes/kitchen/images/texture5.jpg differ diff --git a/src/test/meshes/kitchen/images/texture6.jpg b/src/test/meshes/kitchen/images/texture6.jpg new file mode 100644 index 0000000000..b074720b28 Binary files /dev/null and b/src/test/meshes/kitchen/images/texture6.jpg differ diff --git a/src/test/meshes/kitchen/models/dada.dae b/src/test/meshes/kitchen/models/dada.dae new file mode 100644 index 0000000000..952b70a5ef --- /dev/null +++ b/src/test/meshes/kitchen/models/dada.dae @@ -0,0 +1,4045 @@ + + + + + Google SketchUp 6.4.112 + + 2008-08-29T15:45:58Z + 2008-08-29T15:45:58Z + + Z_UP + + + + ../images/texture0.jpg + + + ../images/texture1.jpg + + + ../images/texture2.jpg + + + ../images/texture3.jpg + + + ../images/texture4.jpg + + + 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