message: Clean up mesh vis.
diff: @@ -52,22 +52,6 @@ inline Point lambertShading(const Point& normal, const Point& light,
  return std::max<FloatingPoint>(normal.dot(light), 0.0f) * color;
  }
  -inline void lambertColorFromNormal(const Point& normal,
  - std_msgs::ColorRGBA* color_msg) {
  - const Point light_dir = Point(0.8f, -0.2f, 0.7f).normalized();
  - const Point light_dir2 = Point(-0.5f, 0.2f, 0.2f).normalized();
  - const Point ambient(0.2f, 0.2f, 0.2f);
  - const Point color_pt(0.5, 0.5, 0.5);
  -
  - Point lambert = lambertShading(normal, light_dir, color_pt) +
  - lambertShading(normal, light_dir2, color_pt) + ambient;
  -
  - color_msg->r = std::min<FloatingPoint>(lambert.x(), 1.0);
  - color_msg->g = std::min<FloatingPoint>(lambert.y(), 1.0);
  - color_msg->b = std::min<FloatingPoint>(lambert.z(), 1.0);
  - color_msg->a = 1.0;
  -}
  -
  inline void lambertColorFromColorAndNormal(const Color& color,
  const Point& normal,
  std_msgs::ColorRGBA* color_msg) {
  @@ -85,6 +69,11 @@ inline void lambertColorFromColorAndNormal(const Color& color,
  color_msg->a = 1.0;
  }
  +inline void lambertColorFromNormal(const Point& normal,
  + std_msgs::ColorRGBA* color_msg) {
  + lambertColorFromColorAndNormal(Color(127, 127, 127), normal, color_msg);
  +}
  +
  inline void normalColorFromNormal(const Point& normal,
  std_msgs::ColorRGBA* color_msg) {
  // Normals should be in the scale -1 to 1, so we need to shift them to
  