lucasw / bgfx_ros Goto Github PK

Try out multiple types, maybe support all of them and expose all major parameters to service calls.
'rviz with shadows' is after all half the point of this.

Shadow controls mostly, what else could benefit?

Pass roslint tests, meeting other standard ros coding style guidelines

Configure any number of cameras through service calls.

Looks very straight forward.

Are there any tools for generating meshes?

Standard lights at first- no shadows, just up to N lights that are configured via service calls.

Directional and ambient first, then point, finally spot.

Instead of drawing into bgfx (or optionally in addition to), have debug geometry and text publish into rviz markers so rviz can be used to debug a scene.

The camera frustum, wireframe and bounding boxes.

Publish shadow depth buffers as Images (a sim kinect like range sensor would publish a depth buffer all the time).

Make this a nodelet

Nearly a prerequisite for Marker support (but not Mesh, which doesn't have a header), though initially it could assume all the coordinates are in a world frame.

rviz does a lot to try to keep everything displayed at least for some number of seconds until the tf lookup is considered stale, but here could have a dynamically configurable lag that would set how far in the past to look up all the objects- if too recent then much will not be displayed (not even some indicator to show something ought to be there, or this is where it used to be). If too old obviously it is less useful for real time visualization, and really too old falls off the end of the tf buffer.

Maybe this already exists?

Display a subscribed image in an SDL window with minimal window dressing (can the border be turned off entirely? Could have a special topic control window placement), and a full-screen mode.

param and a service would define which topic to subscribe to.

This doesn't necessarily belong in this project (meant to do this for vimjay a long time ago), but it would be useful for it and already am using SDL here.

Points and lines and triangle list support first.