message: Review comments but not making light directions parameters. Since I don't know how to do that nicely.
diff: @@ -55,6 +55,8 @@ inline Point lambertShading(const Point& normal, const Point& light,
  inline void lambertColorFromColorAndNormal(const Color& color,
  const Point& normal,
  std_msgs::ColorRGBA* color_msg) {
  + // These are just some arbitrary light directions, I believe taken from
  + // OpenChisel.
  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);
  