diff --git a/build/ros3d.js b/build/ros3d.js
index 9e8edf50..7832dcaf 100644
--- a/build/ros3d.js
+++ b/build/ros3d.js
@@ -166,6 +166,3508 @@ ROS3D.closestAxisPoint = function(axisRay, camera, mousePos) {
   return ROS3D.findClosestPoint(axisRay, mpRay);
 };
 
+/* jshint ignore:start */
+
+/**
+ * @author mrdoob / http://mrdoob.com/
+ * @author Mugen87 / https://github.com/Mugen87
+ *
+ *
+ * @Modified by Jihoon Lee from ColladerLoader.js@r88
+ * To support rviz compatible collada viewing.
+ * See: #202 why it is forked.
+ *
+ * It is a fork from ColladerLoader.js in three.js. It follows three.js license:
+ *
+ * The MIT License
+ *
+ * Copyright © 2010-2017 three.js authors
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+THREE.ColladaLoader = function ( manager ) {
+
+	this.manager = ( manager !== undefined ) ? manager : THREE.DefaultLoadingManager;
+
+};
+
+THREE.ColladaLoader.prototype = {
+
+	constructor: THREE.ColladaLoader,
+
+	crossOrigin: 'Anonymous',
+
+	load: function ( url, onLoad, onProgress, onError ) {
+
+		var scope = this;
+
+		var path = THREE.Loader.prototype.extractUrlBase( url );
+
+		var loader = new THREE.FileLoader( scope.manager );
+		loader.load( url, function ( text ) {
+
+			onLoad( scope.parse( text, path ) );
+
+		}, onProgress, onError );
+
+	},
+
+	options: {
+
+		set convertUpAxis( value ) {
+
+			console.warn( 'THREE.ColladaLoader: options.convertUpAxis() has been removed. Up axis is converted automatically.' );
+
+		}
+
+	},
+
+	setCrossOrigin: function ( value ) {
+
+		this.crossOrigin = value;
+
+	},
+
+	parse: function ( text, path ) {
+
+		function getElementsByTagName( xml, name ) {
+
+			// Non recursive xml.getElementsByTagName() ...
+
+			var array = [];
+			var childNodes = xml.childNodes;
+
+			for ( var i = 0, l = childNodes.length; i < l; i ++ ) {
+
+				var child = childNodes[ i ];
+
+				if ( child.nodeName === name ) {
+
+					array.push( child );
+
+				}
+
+			}
+
+			return array;
+
+		}
+
+		function parseStrings( text ) {
+
+			if ( text.length === 0 ) return [];
+
+			var parts = text.trim().split( /\s+/ );
+			var array = new Array( parts.length );
+
+			for ( var i = 0, l = parts.length; i < l; i ++ ) {
+
+				array[ i ] = parts[ i ];
+
+			}
+
+			return array;
+
+		}
+
+		function parseFloats( text ) {
+
+			if ( text.length === 0 ) return [];
+
+			var parts = text.trim().split( /\s+/ );
+			var array = new Array( parts.length );
+
+			for ( var i = 0, l = parts.length; i < l; i ++ ) {
+
+				array[ i ] = parseFloat( parts[ i ] );
+
+			}
+
+			return array;
+
+		}
+
+		function parseInts( text ) {
+
+			if ( text.length === 0 ) return [];
+
+			var parts = text.trim().split( /\s+/ );
+			var array = new Array( parts.length );
+
+			for ( var i = 0, l = parts.length; i < l; i ++ ) {
+
+				array[ i ] = parseInt( parts[ i ] );
+
+			}
+
+			return array;
+
+		}
+
+		function parseId( text ) {
+
+			return text.substring( 1 );
+
+		}
+
+		function generateId() {
+
+			return 'three_default_' + ( count ++ );
+
+		}
+
+		function isEmpty( object ) {
+
+			return Object.keys( object ).length === 0;
+
+		}
+
+		// asset
+
+		function parseAsset( xml ) {
+
+			return {
+				unit: parseAssetUnit( getElementsByTagName( xml, 'unit' )[ 0 ] ),
+				upAxis: parseAssetUpAxis( getElementsByTagName( xml, 'up_axis' )[ 0 ] )
+			};
+
+		}
+
+		function parseAssetUnit( xml ) {
+
+			return xml !== undefined ? parseFloat( xml.getAttribute( 'meter' ) ) : 1;
+
+		}
+
+		function parseAssetUpAxis( xml ) {
+
+			return xml !== undefined ? xml.textContent : 'Y_UP';
+
+		}
+
+		// library
+
+		function parseLibrary( xml, libraryName, nodeName, parser ) {
+
+			var library = getElementsByTagName( xml, libraryName )[ 0 ];
+
+			if ( library !== undefined ) {
+
+				var elements = getElementsByTagName( library, nodeName );
+
+				for ( var i = 0; i < elements.length; i ++ ) {
+
+					parser( elements[ i ] );
+
+				}
+
+			}
+
+		}
+
+		function buildLibrary( data, builder ) {
+
+			for ( var name in data ) {
+
+				var object = data[ name ];
+				object.build = builder( data[ name ] );
+
+			}
+
+		}
+
+		// get
+
+		function getBuild( data, builder ) {
+
+			if ( data.build !== undefined ) return data.build;
+
+			data.build = builder( data );
+
+			return data.build;
+
+		}
+
+		// animation
+
+		function parseAnimation( xml ) {
+
+			var data = {
+				sources: {},
+				samplers: {},
+				channels: {}
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				var id;
+
+				switch ( child.nodeName ) {
+
+					case 'source':
+						id = child.getAttribute( 'id' );
+						data.sources[ id ] = parseSource( child );
+						break;
+
+					case 'sampler':
+						id = child.getAttribute( 'id' );
+						data.samplers[ id ] = parseAnimationSampler( child );
+						break;
+
+					case 'channel':
+						id = child.getAttribute( 'target' );
+						data.channels[ id ] = parseAnimationChannel( child );
+						break;
+
+					default:
+						console.log( child );
+
+				}
+
+			}
+
+			library.animations[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function parseAnimationSampler( xml ) {
+
+			var data = {
+				inputs: {},
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'input':
+						var id = parseId( child.getAttribute( 'source' ) );
+						var semantic = child.getAttribute( 'semantic' );
+						data.inputs[ semantic ] = id;
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseAnimationChannel( xml ) {
+
+			var data = {};
+
+			var target = xml.getAttribute( 'target' );
+
+			// parsing SID Addressing Syntax
+
+			var parts = target.split( '/' );
+
+			var id = parts.shift();
+			var sid = parts.shift();
+
+			// check selection syntax
+
+			var arraySyntax = ( sid.indexOf( '(' ) !== - 1 );
+			var memberSyntax = ( sid.indexOf( '.' ) !== - 1 );
+
+			if ( memberSyntax ) {
+
+				//  member selection access
+
+				parts = sid.split( '.' );
+				sid = parts.shift();
+				data.member = parts.shift();
+
+			} else if ( arraySyntax ) {
+
+				// array-access syntax. can be used to express fields in one-dimensional vectors or two-dimensional matrices.
+
+				var indices = sid.split( '(' );
+				sid = indices.shift();
+
+				for ( var i = 0; i < indices.length; i ++ ) {
+
+					indices[ i ] = parseInt( indices[ i ].replace( /\)/, '' ) );
+
+				}
+
+				data.indices = indices;
+
+			}
+
+			data.id = id;
+			data.sid = sid;
+
+			data.arraySyntax = arraySyntax;
+			data.memberSyntax = memberSyntax;
+
+			data.sampler = parseId( xml.getAttribute( 'source' ) );
+
+			return data;
+
+		}
+
+		function buildAnimation( data ) {
+
+			var tracks = [];
+
+			var channels = data.channels;
+			var samplers = data.samplers;
+			var sources = data.sources;
+
+			for ( var target in channels ) {
+
+				if ( channels.hasOwnProperty( target ) ) {
+
+					var channel = channels[ target ];
+					var sampler = samplers[ channel.sampler ];
+
+					var inputId = sampler.inputs.INPUT;
+					var outputId = sampler.inputs.OUTPUT;
+
+					var inputSource = sources[ inputId ];
+					var outputSource = sources[ outputId ];
+
+					var animation = buildAnimationChannel( channel, inputSource, outputSource );
+
+					createKeyframeTracks( animation, tracks );
+
+				}
+
+			}
+
+			return tracks;
+
+		}
+
+		function getAnimation( id ) {
+
+			return getBuild( library.animations[ id ], buildAnimation );
+
+		}
+
+		function buildAnimationChannel( channel, inputSource, outputSource ) {
+
+			var node = library.nodes[ channel.id ];
+			var object3D = getNode( node.id );
+
+			var transform = node.transforms[ channel.sid ];
+			var defaultMatrix = node.matrix.clone().transpose();
+
+			var time, stride;
+			var i, il, j, jl;
+
+			var data = {};
+
+			// the collada spec allows the animation of data in various ways.
+			// depending on the transform type (matrix, translate, rotate, scale), we execute different logic
+
+			switch ( transform ) {
+
+				case 'matrix':
+
+					for ( i = 0, il = inputSource.array.length; i < il; i ++ ) {
+
+						time = inputSource.array[ i ];
+						stride = i * outputSource.stride;
+
+						if ( data[ time ] === undefined ) data[ time ] = {};
+
+						if ( channel.arraySyntax === true ) {
+
+							var value = outputSource.array[ stride ];
+							var index = channel.indices[ 0 ] + 4 * channel.indices[ 1 ];
+
+							data[ time ][ index ] = value;
+
+						} else {
+
+							for ( j = 0, jl = outputSource.stride; j < jl; j ++ ) {
+
+								data[ time ][ j ] = outputSource.array[ stride + j ];
+
+							}
+
+						}
+
+					}
+
+					break;
+
+				case 'translate':
+					console.warn( 'THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform );
+					break;
+
+				case 'rotate':
+					console.warn( 'THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform );
+					break;
+
+				case 'scale':
+					console.warn( 'THREE.ColladaLoader: Animation transform type "%s" not yet implemented.', transform );
+					break;
+
+			}
+
+			var keyframes = prepareAnimationData( data, defaultMatrix );
+
+			var animation = {
+				name: object3D.uuid,
+				keyframes: keyframes
+			};
+
+			return animation;
+
+		}
+
+		function prepareAnimationData( data, defaultMatrix ) {
+
+			var keyframes = [];
+
+			// transfer data into a sortable array
+
+			for ( var time in data ) {
+
+				keyframes.push( { time: parseFloat( time ), value: data[ time ] } );
+
+			}
+
+			// ensure keyframes are sorted by time
+
+			keyframes.sort( ascending );
+
+			// now we clean up all animation data, so we can use them for keyframe tracks
+
+			for ( var i = 0; i < 16; i ++ ) {
+
+				transformAnimationData( keyframes, i, defaultMatrix.elements[ i ] );
+
+			}
+
+			return keyframes;
+
+			// array sort function
+
+			function ascending( a, b ) {
+
+				return a.time - b.time;
+
+			}
+
+		}
+
+		var position = new THREE.Vector3();
+		var scale = new THREE.Vector3();
+		var quaternion = new THREE.Quaternion();
+
+		function createKeyframeTracks( animation, tracks ) {
+
+			var keyframes = animation.keyframes;
+			var name = animation.name;
+
+			var times = [];
+			var positionData = [];
+			var quaternionData = [];
+			var scaleData = [];
+
+			for ( var i = 0, l = keyframes.length; i < l; i ++ ) {
+
+				var keyframe = keyframes[ i ];
+
+				var time = keyframe.time;
+				var value = keyframe.value;
+
+				matrix.fromArray( value ).transpose();
+				matrix.decompose( position, quaternion, scale );
+
+				times.push( time );
+				positionData.push( position.x, position.y, position.z );
+				quaternionData.push( quaternion.x, quaternion.y, quaternion.z, quaternion.w );
+				scaleData.push( scale.x, scale.y, scale.z );
+
+			}
+
+			if ( positionData.length > 0 ) tracks.push( new THREE.VectorKeyframeTrack( name + '.position', times, positionData ) );
+			if ( quaternionData.length > 0 ) tracks.push( new THREE.QuaternionKeyframeTrack( name + '.quaternion', times, quaternionData ) );
+			if ( scaleData.length > 0 ) tracks.push( new THREE.VectorKeyframeTrack( name + '.scale', times, scaleData ) );
+
+			return tracks;
+
+		}
+
+		function transformAnimationData( keyframes, property, defaultValue ) {
+
+			var keyframe;
+
+			var empty = true;
+			var i, l;
+
+			// check, if values of a property are missing in our keyframes
+
+			for ( i = 0, l = keyframes.length; i < l; i ++ ) {
+
+				keyframe = keyframes[ i ];
+
+				if ( keyframe.value[ property ] === undefined ) {
+
+					keyframe.value[ property ] = null; // mark as missing
+
+				} else {
+
+					empty = false;
+
+				}
+
+			}
+
+			if ( empty === true ) {
+
+				// no values at all, so we set a default value
+
+				for ( i = 0, l = keyframes.length; i < l; i ++ ) {
+
+					keyframe = keyframes[ i ];
+
+					keyframe.value[ property ] = defaultValue;
+
+				}
+
+			} else {
+
+				// filling gaps
+
+				createMissingKeyframes( keyframes, property );
+
+			}
+
+		}
+
+		function createMissingKeyframes( keyframes, property ) {
+
+			var prev, next;
+
+			for ( var i = 0, l = keyframes.length; i < l; i ++ ) {
+
+				var keyframe = keyframes[ i ];
+
+				if ( keyframe.value[ property ] === null ) {
+
+					prev = getPrev( keyframes, i, property );
+					next = getNext( keyframes, i, property );
+
+					if ( prev === null ) {
+
+						keyframe.value[ property ] = next.value[ property ];
+						continue;
+
+					}
+
+					if ( next === null ) {
+
+						keyframe.value[ property ] = prev.value[ property ];
+						continue;
+
+					}
+
+					interpolate( keyframe, prev, next, property );
+
+				}
+
+			}
+
+		}
+
+		function getPrev( keyframes, i, property ) {
+
+			while ( i >= 0 ) {
+
+				var keyframe = keyframes[ i ];
+
+				if ( keyframe.value[ property ] !== null ) return keyframe;
+
+				i --;
+
+			}
+
+			return null;
+
+		}
+
+		function getNext( keyframes, i, property ) {
+
+			while ( i < keyframes.length ) {
+
+				var keyframe = keyframes[ i ];
+
+				if ( keyframe.value[ property ] !== null ) return keyframe;
+
+				i ++;
+
+			}
+
+			return null;
+
+		}
+
+		function interpolate( key, prev, next, property ) {
+
+			if ( ( next.time - prev.time ) === 0 ) {
+
+				key.value[ property ] = prev.value[ property ];
+				return;
+
+			}
+
+			key.value[ property ] = ( ( key.time - prev.time ) * ( next.value[ property ] - prev.value[ property ] ) / ( next.time - prev.time ) ) + prev.value[ property ];
+
+		}
+
+		// animation clips
+
+		function parseAnimationClip( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'id' ) || 'default',
+				start: parseFloat( xml.getAttribute( 'start' ) || 0 ),
+				end: parseFloat( xml.getAttribute( 'end' ) || 0 ),
+				animations: []
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'instance_animation':
+						data.animations.push( parseId( child.getAttribute( 'url' ) ) );
+						break;
+
+				}
+
+			}
+
+			library.clips[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function buildAnimationClip( data ) {
+
+			var tracks = [];
+
+			var name = data.name;
+			var duration = ( data.end - data.start ) || - 1;
+			var animations = data.animations;
+
+			for ( var i = 0, il = animations.length; i < il; i ++ ) {
+
+				var animationTracks = getAnimation( animations[ i ] );
+
+				for ( var j = 0, jl = animationTracks.length; j < jl; j ++ ) {
+
+					tracks.push( animationTracks[ j ] );
+
+				}
+
+			}
+
+			return new THREE.AnimationClip( name, duration, tracks );
+
+		}
+
+		function getAnimationClip( id ) {
+
+			return getBuild( library.clips[ id ], buildAnimationClip );
+
+		}
+
+		// controller
+
+		function parseController( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'skin':
+						// there is exactly one skin per controller
+						data.id = parseId( child.getAttribute( 'source' ) );
+						data.skin = parseSkin( child );
+						break;
+
+					case 'morph':
+						data.id = parseId( child.getAttribute( 'source' ) );
+						console.warn( 'THREE.ColladaLoader: Morph target animation not supported yet.' );
+						break;
+
+				}
+
+			}
+
+			library.controllers[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function parseSkin( xml ) {
+
+			var data = {
+				sources: {}
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'bind_shape_matrix':
+						data.bindShapeMatrix = parseFloats( child.textContent );
+						break;
+
+					case 'source':
+						var id = child.getAttribute( 'id' );
+						data.sources[ id ] = parseSource( child );
+						break;
+
+					case 'joints':
+						data.joints = parseJoints( child );
+						break;
+
+					case 'vertex_weights':
+						data.vertexWeights = parseVertexWeights( child );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseJoints( xml ) {
+
+			var data = {
+				inputs: {}
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'input':
+						var semantic = child.getAttribute( 'semantic' );
+						var id = parseId( child.getAttribute( 'source' ) );
+						data.inputs[ semantic ] = id;
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseVertexWeights( xml ) {
+
+			var data = {
+				inputs: {}
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'input':
+						var semantic = child.getAttribute( 'semantic' );
+						var id = parseId( child.getAttribute( 'source' ) );
+						var offset = parseInt( child.getAttribute( 'offset' ) );
+						data.inputs[ semantic ] = { id: id, offset: offset };
+						break;
+
+					case 'vcount':
+						data.vcount = parseInts( child.textContent );
+						break;
+
+					case 'v':
+						data.v = parseInts( child.textContent );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function buildController( data ) {
+
+			var build = {
+				id: data.id
+			};
+
+			var geometry = library.geometries[ build.id ];
+
+			if ( data.skin !== undefined ) {
+
+				build.skin = buildSkin( data.skin );
+
+				// we enhance the 'sources' property of the corresponding geometry with our skin data
+
+				geometry.sources.skinIndices = build.skin.indices;
+				geometry.sources.skinWeights = build.skin.weights;
+
+			}
+
+			return build;
+
+		}
+
+		function buildSkin( data ) {
+
+			var BONE_LIMIT = 4;
+
+			var build = {
+				joints: [], // this must be an array to preserve the joint order
+				indices: {
+					array: [],
+					stride: BONE_LIMIT
+				},
+				weights: {
+					array: [],
+					stride: BONE_LIMIT
+				}
+			};
+
+			var sources = data.sources;
+			var vertexWeights = data.vertexWeights;
+
+			var vcount = vertexWeights.vcount;
+			var v = vertexWeights.v;
+			var jointOffset = vertexWeights.inputs.JOINT.offset;
+			var weightOffset = vertexWeights.inputs.WEIGHT.offset;
+
+			var jointSource = data.sources[ data.joints.inputs.JOINT ];
+			var inverseSource = data.sources[ data.joints.inputs.INV_BIND_MATRIX ];
+
+			var weights = sources[ vertexWeights.inputs.WEIGHT.id ].array;
+			var stride = 0;
+
+			var i, j, l;
+
+			// procces skin data for each vertex
+
+			for ( i = 0, l = vcount.length; i < l; i ++ ) {
+
+				var jointCount = vcount[ i ]; // this is the amount of joints that affect a single vertex
+				var vertexSkinData = [];
+
+				for ( j = 0; j < jointCount; j ++ ) {
+
+					var skinIndex = v[ stride + jointOffset ];
+					var weightId = v[ stride + weightOffset ];
+					var skinWeight = weights[ weightId ];
+
+					vertexSkinData.push( { index: skinIndex, weight: skinWeight } );
+
+					stride += 2;
+
+				}
+
+				// we sort the joints in descending order based on the weights.
+				// this ensures, we only procced the most important joints of the vertex
+
+				vertexSkinData.sort( descending );
+
+				// now we provide for each vertex a set of four index and weight values.
+				// the order of the skin data matches the order of vertices
+
+				for ( j = 0; j < BONE_LIMIT; j ++ ) {
+
+					var d = vertexSkinData[ j ];
+
+					if ( d !== undefined ) {
+
+						build.indices.array.push( d.index );
+						build.weights.array.push( d.weight );
+
+					} else {
+
+						build.indices.array.push( 0 );
+						build.weights.array.push( 0 );
+
+					}
+
+				}
+
+			}
+
+			// setup bind matrix
+
+			build.bindMatrix = new THREE.Matrix4().fromArray( data.bindShapeMatrix ).transpose();
+
+			// process bones and inverse bind matrix data
+
+			for ( i = 0, l = jointSource.array.length; i < l; i ++ ) {
+
+				var name = jointSource.array[ i ];
+				var boneInverse = new THREE.Matrix4().fromArray( inverseSource.array, i * inverseSource.stride ).transpose();
+
+				build.joints.push( { name: name, boneInverse: boneInverse } );
+
+			}
+
+			return build;
+
+			// array sort function
+
+			function descending( a, b ) {
+
+				return b.weight - a.weight;
+
+			}
+
+		}
+
+		function getController( id ) {
+
+			return getBuild( library.controllers[ id ], buildController );
+
+		}
+
+		// image
+
+		function parseImage( xml ) {
+
+			var data = {
+				init_from: getElementsByTagName( xml, 'init_from' )[ 0 ].textContent
+			};
+
+			library.images[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function buildImage( data ) {
+
+			if ( data.build !== undefined ) return data.build;
+
+			return data.init_from;
+
+		}
+
+		function getImage( id ) {
+
+			return getBuild( library.images[ id ], buildImage );
+
+		}
+
+		// effect
+
+		function parseEffect( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'profile_COMMON':
+						data.profile = parseEffectProfileCOMMON( child );
+						break;
+
+				}
+
+			}
+
+			library.effects[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function parseEffectProfileCOMMON( xml ) {
+
+			var data = {
+				surfaces: {},
+				samplers: {}
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'newparam':
+						parseEffectNewparam( child, data );
+						break;
+
+					case 'technique':
+						data.technique = parseEffectTechnique( child );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectNewparam( xml, data ) {
+
+			var sid = xml.getAttribute( 'sid' );
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'surface':
+						data.surfaces[ sid ] = parseEffectSurface( child );
+						break;
+
+					case 'sampler2D':
+						data.samplers[ sid ] = parseEffectSampler( child );
+						break;
+
+				}
+
+			}
+
+		}
+
+		function parseEffectSurface( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'init_from':
+						data.init_from = child.textContent;
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectSampler( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'source':
+						data.source = child.textContent;
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectTechnique( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'constant':
+					case 'lambert':
+					case 'blinn':
+					case 'phong':
+						data.type = child.nodeName;
+						data.parameters = parseEffectParameters( child );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectParameters( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'emission':
+					case 'diffuse':
+					case 'specular':
+					case 'shininess':
+					case 'transparent':
+					case 'transparency':
+						data[ child.nodeName ] = parseEffectParameter( child );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectParameter( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'color':
+						data[ child.nodeName ] = parseFloats( child.textContent );
+						break;
+
+					case 'float':
+						data[ child.nodeName ] = parseFloat( child.textContent );
+						break;
+
+					case 'texture':
+						data[ child.nodeName ] = { id: child.getAttribute( 'texture' ), extra: parseEffectParameterTexture( child ) };
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectParameterTexture( xml ) {
+
+			var data = {
+				technique: {}
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'extra':
+						parseEffectParameterTextureExtra( child, data );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseEffectParameterTextureExtra( xml, data ) {
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'technique':
+						parseEffectParameterTextureExtraTechnique( child, data );
+						break;
+
+				}
+
+			}
+
+		}
+
+		function parseEffectParameterTextureExtraTechnique( xml, data ) {
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'repeatU':
+					case 'repeatV':
+					case 'offsetU':
+					case 'offsetV':
+						data.technique[ child.nodeName ] = parseFloat( child.textContent );
+						break;
+
+					case 'wrapU':
+					case 'wrapV':
+
+						// some files have values for wrapU/wrapV which become NaN via parseInt
+
+						if ( child.textContent.toUpperCase() === 'TRUE' ) {
+
+							data.technique[ child.nodeName ] = 1;
+
+						} else if ( child.textContent.toUpperCase() === 'FALSE' ) {
+
+							data.technique[ child.nodeName ] = 0;
+
+						} else {
+
+							data.technique[ child.nodeName ] = parseInt( child.textContent );
+
+						}
+
+						break;
+
+				}
+
+			}
+
+		}
+
+		function buildEffect( data ) {
+
+			return data;
+
+		}
+
+		function getEffect( id ) {
+
+			return getBuild( library.effects[ id ], buildEffect );
+
+		}
+
+		// material
+
+		function parseMaterial( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'name' )
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'instance_effect':
+						data.url = parseId( child.getAttribute( 'url' ) );
+						break;
+
+				}
+
+			}
+
+			library.materials[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function buildMaterial( data ) {
+
+			var effect = getEffect( data.url );
+			var technique = effect.profile.technique;
+
+			var material;
+
+			switch ( technique.type ) {
+
+				case 'phong':
+				case 'blinn':
+					material = new THREE.MeshPhongMaterial();
+					break;
+
+				case 'lambert':
+					material = new THREE.MeshLambertMaterial();
+					break;
+
+				default:
+					material = new THREE.MeshBasicMaterial();
+					break;
+
+			}
+
+			material.name = data.name;
+
+			function getTexture( textureObject ) {
+
+				var sampler = effect.profile.samplers[ textureObject.id ];
+
+				if ( sampler !== undefined ) {
+
+					var surface = effect.profile.surfaces[ sampler.source ];
+
+					var texture = textureLoader.load( getImage( surface.init_from ) );
+
+					var extra = textureObject.extra;
+
+					if ( extra !== undefined && extra.technique !== undefined && isEmpty( extra.technique ) === false ) {
+
+						var technique = extra.technique;
+
+						texture.wrapS = technique.wrapU ? THREE.RepeatWrapping : THREE.ClampToEdgeWrapping;
+						texture.wrapT = technique.wrapV ? THREE.RepeatWrapping : THREE.ClampToEdgeWrapping;
+
+						texture.offset.set( technique.offsetU || 0, technique.offsetV || 0 );
+						texture.repeat.set( technique.repeatU || 1, technique.repeatV || 1 );
+
+					} else {
+
+						texture.wrapS = THREE.RepeatWrapping;
+						texture.wrapT = THREE.RepeatWrapping;
+
+					}
+
+					return texture;
+
+				}
+
+				console.error( 'THREE.ColladaLoader: Undefined sampler', textureObject.id );
+
+				return null;
+
+			}
+
+			var parameters = technique.parameters;
+
+			for ( var key in parameters ) {
+
+				var parameter = parameters[ key ];
+
+				switch ( key ) {
+
+					case 'diffuse':
+						if ( parameter.color ) material.color.fromArray( parameter.color );
+						if ( parameter.texture ) material.map = getTexture( parameter.texture );
+						break;
+					case 'specular':
+						if ( parameter.color && material.specular ) material.specular.fromArray( parameter.color );
+						if ( parameter.texture ) material.specularMap = getTexture( parameter.texture );
+						break;
+					case 'shininess':
+						if ( parameter.float && material.shininess )
+							material.shininess = parameter.float;
+						break;
+					case 'emission':
+						if ( parameter.color && material.emissive )
+							material.emissive.fromArray( parameter.color );
+						break;
+					case 'transparent':
+						// if ( parameter.texture ) material.alphaMap = getTexture( parameter.texture );
+						material.transparent = true;
+						break;
+					case 'transparency':
+						if ( parameter.float !== undefined ) material.opacity = parameter.float;
+						material.transparent = true;
+						break;
+
+				}
+
+			}
+
+			return material;
+
+		}
+
+		function getMaterial( id ) {
+
+			return getBuild( library.materials[ id ], buildMaterial );
+
+		}
+
+		// camera
+
+		function parseCamera( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'name' )
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'optics':
+						data.optics = parseCameraOptics( child );
+						break;
+
+				}
+
+			}
+
+			library.cameras[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function parseCameraOptics( xml ) {
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				switch ( child.nodeName ) {
+
+					case 'technique_common':
+						return parseCameraTechnique( child );
+
+				}
+
+			}
+
+			return {};
+
+		}
+
+		function parseCameraTechnique( xml ) {
+
+			var data = {};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				switch ( child.nodeName ) {
+
+					case 'perspective':
+					case 'orthographic':
+
+						data.technique = child.nodeName;
+						data.parameters = parseCameraParameters( child );
+
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseCameraParameters( xml ) {
+
+			var data = {};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				switch ( child.nodeName ) {
+
+					case 'xfov':
+					case 'yfov':
+					case 'xmag':
+					case 'ymag':
+					case 'znear':
+					case 'zfar':
+					case 'aspect_ratio':
+						data[ child.nodeName ] = parseFloat( child.textContent );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function buildCamera( data ) {
+
+			var camera;
+
+			switch ( data.optics.technique ) {
+
+				case 'perspective':
+					camera = new THREE.PerspectiveCamera(
+						data.optics.parameters.yfov,
+						data.optics.parameters.aspect_ratio,
+						data.optics.parameters.znear,
+						data.optics.parameters.zfar
+					);
+					break;
+
+				case 'orthographic':
+					var ymag = data.optics.parameters.ymag;
+					var xmag = data.optics.parameters.xmag;
+					var aspectRatio = data.optics.parameters.aspect_ratio;
+
+					xmag = ( xmag === undefined ) ? ( ymag * aspectRatio ) : xmag;
+					ymag = ( ymag === undefined ) ? ( xmag / aspectRatio ) : ymag;
+
+					xmag *= 0.5;
+					ymag *= 0.5;
+
+					camera = new THREE.OrthographicCamera(
+						- xmag, xmag, ymag, - ymag, // left, right, top, bottom
+						data.optics.parameters.znear,
+						data.optics.parameters.zfar
+					);
+					break;
+
+				default:
+					camera = new THREE.PerspectiveCamera();
+					break;
+
+			}
+
+			camera.name = data.name;
+
+			return camera;
+
+		}
+
+		function getCamera( id ) {
+      var data = library.cameras[ id ];
+ 			if ( data !== undefined ) {
+ 				return getBuild( data, buildCamera );
+ 			}
+ 			return null;
+		}
+
+		// light
+
+		function parseLight( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'technique_common':
+						data = parseLightTechnique( child );
+						break;
+
+				}
+
+			}
+
+			library.lights[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function parseLightTechnique( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'directional':
+					case 'point':
+					case 'spot':
+					case 'ambient':
+
+						data.technique = child.nodeName;
+						data.parameters = parseLightParameters( child );
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseLightParameters( xml ) {
+
+			var data = {};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'color':
+						var array = parseFloats( child.textContent );
+						data.color = new THREE.Color().fromArray( array );
+						break;
+
+					case 'falloff_angle':
+						data.falloffAngle = parseFloat( child.textContent );
+						break;
+
+					case 'quadratic_attenuation':
+						var f = parseFloat( child.textContent );
+						data.distance = f ? Math.sqrt( 1 / f ) : 0;
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function buildLight( data ) {
+
+			var light;
+
+			switch ( data.technique ) {
+
+				case 'directional':
+					light = new THREE.DirectionalLight();
+					break;
+
+				case 'point':
+					light = new THREE.PointLight();
+					break;
+
+				case 'spot':
+					light = new THREE.SpotLight();
+					break;
+
+				case 'ambient':
+					light = new THREE.AmbientLight();
+					break;
+
+			}
+
+			if ( data.parameters.color ) light.color.copy( data.parameters.color );
+			if ( data.parameters.distance ) light.distance = data.parameters.distance;
+
+			return light;
+
+		}
+
+		function getLight( id ) {
+    	var data = library.lights[ id ];
+
+			if ( data !== undefined ) {
+
+				return getBuild( data, buildLight );
+
+			}
+
+			return null;
+		}
+
+		// geometry
+
+		function parseGeometry( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'name' ),
+				sources: {},
+				vertices: {},
+				primitives: []
+			};
+
+			var mesh = getElementsByTagName( xml, 'mesh' )[ 0 ];
+
+			for ( var i = 0; i < mesh.childNodes.length; i ++ ) {
+
+				var child = mesh.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				var id = child.getAttribute( 'id' );
+
+				switch ( child.nodeName ) {
+
+					case 'source':
+						data.sources[ id ] = parseSource( child );
+						break;
+
+					case 'vertices':
+						// data.sources[ id ] = data.sources[ parseId( getElementsByTagName( child, 'input' )[ 0 ].getAttribute( 'source' ) ) ];
+						data.vertices = parseGeometryVertices( child );
+						break;
+
+					case 'polygons':
+						console.warn( 'THREE.ColladaLoader: Unsupported primitive type: ', child.nodeName );
+						break;
+
+					case 'lines':
+					case 'linestrips':
+					case 'polylist':
+					case 'triangles':
+						data.primitives.push( parseGeometryPrimitive( child ) );
+						break;
+
+					default:
+						console.log( child );
+
+				}
+
+			}
+
+			library.geometries[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function parseSource( xml ) {
+
+			var data = {
+				array: [],
+				stride: 3
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'float_array':
+						data.array = parseFloats( child.textContent );
+						break;
+
+					case 'Name_array':
+						data.array = parseStrings( child.textContent );
+						break;
+
+					case 'technique_common':
+						var accessor = getElementsByTagName( child, 'accessor' )[ 0 ];
+
+						if ( accessor !== undefined ) {
+
+							data.stride = parseInt( accessor.getAttribute( 'stride' ) );
+
+						}
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseGeometryVertices( xml ) {
+
+			var data = {};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				data[ child.getAttribute( 'semantic' ) ] = parseId( child.getAttribute( 'source' ) );
+
+			}
+
+			return data;
+
+		}
+
+		function parseGeometryPrimitive( xml ) {
+
+			var primitive = {
+				type: xml.nodeName,
+				material: xml.getAttribute( 'material' ),
+				count: parseInt( xml.getAttribute( 'count' ) ),
+				inputs: {},
+				stride: 0
+			};
+
+			for ( var i = 0, l = xml.childNodes.length; i < l; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'input':
+						var id = parseId( child.getAttribute( 'source' ) );
+						var semantic = child.getAttribute( 'semantic' );
+						var offset = parseInt( child.getAttribute( 'offset' ) );
+						primitive.inputs[ semantic ] = { id: id, offset: offset };
+						primitive.stride = Math.max( primitive.stride, offset + 1 );
+						break;
+
+					case 'vcount':
+						primitive.vcount = parseInts( child.textContent );
+						break;
+
+					case 'p':
+						primitive.p = parseInts( child.textContent );
+						break;
+
+				}
+
+			}
+
+			return primitive;
+
+		}
+
+		function groupPrimitives( primitives ) {
+
+			var build = {};
+
+			for ( var i = 0; i < primitives.length; i ++ ) {
+
+				var primitive = primitives[ i ];
+
+				if ( build[ primitive.type ] === undefined ) build[ primitive.type ] = [];
+
+				build[ primitive.type ].push( primitive );
+
+			}
+
+			return build;
+
+		}
+
+		function buildGeometry( data ) {
+
+			var build = {};
+
+			var sources = data.sources;
+			var vertices = data.vertices;
+			var primitives = data.primitives;
+
+			if ( primitives.length === 0 ) return {};
+
+			// our goal is to create one buffer geoemtry for a single type of primitives
+			// first, we group all primitives by their type
+
+			var groupedPrimitives = groupPrimitives( primitives );
+
+			for ( var type in groupedPrimitives ) {
+
+				// second, we create for each type of primitives (polylist,triangles or lines) a buffer geometry
+
+				build[ type ] = buildGeometryType( groupedPrimitives[ type ], sources, vertices );
+
+			}
+
+			return build;
+
+		}
+
+		function buildGeometryType( primitives, sources, vertices ) {
+
+			var build = {};
+
+			var position = { array: [], stride: 0 };
+			var normal = { array: [], stride: 0 };
+			var uv = { array: [], stride: 0 };
+			var color = { array: [], stride: 0 };
+
+			var skinIndex = { array: [], stride: 4 };
+			var skinWeight = { array: [], stride: 4 };
+
+			var geometry = new THREE.BufferGeometry();
+
+			var materialKeys = [];
+
+			var start = 0, count = 0;
+
+			for ( var p = 0; p < primitives.length; p ++ ) {
+
+				var primitive = primitives[ p ];
+				var inputs = primitive.inputs;
+				var triangleCount = 1;
+
+				if ( primitive.vcount && primitive.vcount[ 0 ] === 4 ) {
+
+					triangleCount = 2; // one quad -> two triangles
+
+				}
+
+				// groups
+
+				if ( primitive.type === 'lines' || primitive.type === 'linestrips' ) {
+
+					count = primitive.count * 2;
+
+				} else {
+
+					count = primitive.count * 3 * triangleCount;
+
+				}
+
+				geometry.addGroup( start, count, p );
+				start += count;
+
+				// material
+
+				if ( primitive.material ) {
+
+					materialKeys.push( primitive.material );
+
+				}
+
+				// geometry data
+
+				for ( var name in inputs ) {
+
+					var input = inputs[ name ];
+
+					switch ( name )	{
+
+						case 'VERTEX':
+							for ( var key in vertices ) {
+
+								var id = vertices[ key ];
+
+								switch ( key ) {
+
+									case 'POSITION':
+										buildGeometryData( primitive, sources[ id ], input.offset, position.array );
+										position.stride = sources[ id ].stride;
+
+										if ( sources.skinWeights && sources.skinIndices ) {
+
+											buildGeometryData( primitive, sources.skinIndices, input.offset, skinIndex.array );
+											buildGeometryData( primitive, sources.skinWeights, input.offset, skinWeight.array );
+
+										}
+										break;
+
+									case 'NORMAL':
+										buildGeometryData( primitive, sources[ id ], input.offset, normal.array );
+										normal.stride = sources[ id ].stride;
+										break;
+
+									case 'COLOR':
+										buildGeometryData( primitive, sources[ id ], input.offset, color.array );
+										color.stride = sources[ id ].stride;
+										break;
+
+									case 'TEXCOORD':
+										buildGeometryData( primitive, sources[ id ], input.offset, uv.array );
+										uv.stride = sources[ id ].stride;
+										break;
+
+									default:
+										console.warn( 'THREE.ColladaLoader: Semantic "%s" not handled in geometry build process.', key );
+
+								}
+
+							}
+							break;
+
+						case 'NORMAL':
+							buildGeometryData( primitive, sources[ input.id ], input.offset, normal.array );
+							normal.stride = sources[ input.id ].stride;
+							break;
+
+						case 'COLOR':
+							buildGeometryData( primitive, sources[ input.id ], input.offset, color.array );
+							color.stride = sources[ input.id ].stride;
+							break;
+
+						case 'TEXCOORD':
+							buildGeometryData( primitive, sources[ input.id ], input.offset, uv.array );
+							uv.stride = sources[ input.id ].stride;
+							break;
+
+					}
+
+				}
+
+			}
+
+			// build geometry
+
+			if ( position.array.length > 0 ) geometry.addAttribute( 'position', new THREE.Float32BufferAttribute( position.array, position.stride ) );
+			if ( normal.array.length > 0 ) geometry.addAttribute( 'normal', new THREE.Float32BufferAttribute( normal.array, normal.stride ) );
+			if ( color.array.length > 0 ) geometry.addAttribute( 'color', new THREE.Float32BufferAttribute( color.array, color.stride ) );
+			if ( uv.array.length > 0 ) geometry.addAttribute( 'uv', new THREE.Float32BufferAttribute( uv.array, uv.stride ) );
+
+			if ( skinIndex.array.length > 0 ) geometry.addAttribute( 'skinIndex', new THREE.Float32BufferAttribute( skinIndex.array, skinIndex.stride ) );
+			if ( skinWeight.array.length > 0 ) geometry.addAttribute( 'skinWeight', new THREE.Float32BufferAttribute( skinWeight.array, skinWeight.stride ) );
+
+			build.data = geometry;
+			build.type = primitives[ 0 ].type;
+			build.materialKeys = materialKeys;
+
+			return build;
+
+		}
+
+		function buildGeometryData( primitive, source, offset, array ) {
+
+			var indices = primitive.p;
+			var stride = primitive.stride;
+			var vcount = primitive.vcount;
+
+			function pushVector( i ) {
+
+				var index = indices[ i + offset ] * sourceStride;
+				var length = index + sourceStride;
+
+				for ( ; index < length; index ++ ) {
+
+					array.push( sourceArray[ index ] );
+
+				}
+
+			}
+
+			var maxcount = 0;
+
+			var sourceArray = source.array;
+			var sourceStride = source.stride;
+
+			if ( primitive.vcount !== undefined ) {
+
+				var index = 0;
+
+				for ( var i = 0, l = vcount.length; i < l; i ++ ) {
+
+					var count = vcount[ i ];
+
+					if ( count === 4 ) {
+
+						var a = index + stride * 0;
+						var b = index + stride * 1;
+						var c = index + stride * 2;
+						var d = index + stride * 3;
+
+						pushVector( a ); pushVector( b ); pushVector( d );
+						pushVector( b ); pushVector( c ); pushVector( d );
+
+					} else if ( count === 3 ) {
+
+						var a = index + stride * 0;
+						var b = index + stride * 1;
+						var c = index + stride * 2;
+
+						pushVector( a ); pushVector( b ); pushVector( c );
+
+					} else {
+
+						maxcount = Math.max( maxcount, count );
+
+					}
+
+					index += stride * count;
+
+				}
+
+				if ( maxcount > 0 ) {
+
+					console.log( 'THREE.ColladaLoader: Geometry has faces with more than 4 vertices.' );
+
+				}
+
+			} else {
+
+				for ( var i = 0, l = indices.length; i < l; i += stride ) {
+
+					pushVector( i );
+
+				}
+
+			}
+
+		}
+
+		function getGeometry( id ) {
+
+			return getBuild( library.geometries[ id ], buildGeometry );
+
+		}
+
+		// kinematics
+
+		function parseKinematicsModel( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'name' ) || '',
+				joints: {},
+				links: []
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'technique_common':
+						parseKinematicsTechniqueCommon( child, data );
+						break;
+
+				}
+
+			}
+
+			library.kinematicsModels[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function buildKinematicsModel( data ) {
+
+			if ( data.build !== undefined ) return data.build;
+
+			return data;
+
+		}
+
+		function getKinematicsModel( id ) {
+
+			return getBuild( library.kinematicsModels[ id ], buildKinematicsModel );
+
+		}
+
+		function parseKinematicsTechniqueCommon( xml, data ) {
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'joint':
+						data.joints[ child.getAttribute( 'sid' ) ] = parseKinematicsJoint( child );
+						break;
+
+					case 'link':
+						data.links.push( parseKinematicsLink( child ) );
+						break;
+
+				}
+
+			}
+
+		}
+
+		function parseKinematicsJoint( xml ) {
+
+			var data;
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'prismatic':
+					case 'revolute':
+						data = parseKinematicsJointParameter( child );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseKinematicsJointParameter( xml, data ) {
+
+			var data = {
+				sid: xml.getAttribute( 'sid' ),
+				name: xml.getAttribute( 'name' ) || '',
+				axis: new THREE.Vector3(),
+				limits: {
+					min: 0,
+					max: 0
+				},
+				type: xml.nodeName,
+				static: false,
+				zeroPosition: 0,
+				middlePosition: 0
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'axis':
+						var array = parseFloats( child.textContent );
+						data.axis.fromArray( array );
+						break;
+					case 'limits':
+						var max = child.getElementsByTagName( 'max' )[ 0 ];
+						var min = child.getElementsByTagName( 'min' )[ 0 ];
+
+						data.limits.max = parseFloat( max.textContent );
+						data.limits.min = parseFloat( min.textContent );
+						break;
+
+				}
+
+			}
+
+			// if min is equal to or greater than max, consider the joint static
+
+			if ( data.limits.min >= data.limits.max ) {
+
+				data.static = true;
+
+			}
+
+			// calculate middle position
+
+			data.middlePosition = ( data.limits.min + data.limits.max ) / 2.0;
+
+			return data;
+
+		}
+
+		function parseKinematicsLink( xml ) {
+
+			var data = {
+				sid: xml.getAttribute( 'sid' ),
+				name: xml.getAttribute( 'name' ) || '',
+				attachments: [],
+				transforms: []
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'attachment_full':
+						data.attachments.push( parseKinematicsAttachment( child ) );
+						break;
+
+					case 'matrix':
+					case 'translate':
+					case 'rotate':
+						data.transforms.push( parseKinematicsTransform( child ) );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseKinematicsAttachment( xml ) {
+
+			var data = {
+				joint: xml.getAttribute( 'joint' ).split( '/' ).pop(),
+				transforms: [],
+				links: []
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'link':
+						data.links.push( parseKinematicsLink( child ) );
+						break;
+
+					case 'matrix':
+					case 'translate':
+					case 'rotate':
+						data.transforms.push( parseKinematicsTransform( child ) );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function parseKinematicsTransform( xml ) {
+
+			var data = {
+				type: xml.nodeName
+			};
+
+			var array = parseFloats( xml.textContent );
+
+			switch ( data.type ) {
+
+				case 'matrix':
+					data.obj = new THREE.Matrix4();
+					data.obj.fromArray( array ).transpose();
+					break;
+
+				case 'translate':
+					data.obj = new THREE.Vector3();
+					data.obj.fromArray( array );
+					break;
+
+				case 'rotate':
+					data.obj = new THREE.Vector3();
+					data.obj.fromArray( array );
+					data.angle = THREE.Math.degToRad( array[ 3 ] );
+					break;
+
+			}
+
+			return data;
+
+		}
+
+		function parseKinematicsScene( xml ) {
+
+			var data = {
+				bindJointAxis: []
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'bind_joint_axis':
+						data.bindJointAxis.push( parseKinematicsBindJointAxis( child ) );
+						break;
+
+				}
+
+			}
+
+			library.kinematicsScenes[ parseId( xml.getAttribute( 'url' ) ) ] = data;
+
+		}
+
+		function parseKinematicsBindJointAxis( xml ) {
+
+			var data = {
+				target: xml.getAttribute( 'target' ).split( '/' ).pop()
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'axis':
+						var param = child.getElementsByTagName( 'param' )[ 0 ];
+						data.axis = param.textContent;
+						var tmpJointIndex = data.axis.split( 'inst_' ).pop().split( 'axis' )[ 0 ];
+						data.jointIndex = tmpJointIndex.substr( 0, tmpJointIndex.length - 1 );
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function buildKinematicsScene( data ) {
+
+			if ( data.build !== undefined ) return data.build;
+
+			return data;
+
+		}
+
+		function getKinematicsScene( id ) {
+
+			return getBuild( library.kinematicsScenes[ id ], buildKinematicsScene );
+
+		}
+
+		function setupKinematics() {
+
+			var kinematicsModelId = Object.keys( library.kinematicsModels )[ 0 ];
+			var kinematicsSceneId = Object.keys( library.kinematicsScenes )[ 0 ];
+			var visualSceneId = Object.keys( library.visualScenes )[ 0 ];
+
+			if ( kinematicsModelId === undefined || kinematicsSceneId === undefined ) return;
+
+			var kinematicsModel = getKinematicsModel( kinematicsModelId );
+			var kinematicsScene = getKinematicsScene( kinematicsSceneId );
+			var visualScene = getVisualScene( visualSceneId );
+
+			var bindJointAxis = kinematicsScene.bindJointAxis;
+			var jointMap = {};
+
+			for ( var i = 0, l = bindJointAxis.length; i < l; i ++ ) {
+
+				var axis = bindJointAxis[ i ];
+
+				// the result of the following query is an element of type 'translate', 'rotate','scale' or 'matrix'
+
+				var targetElement = collada.querySelector( '[sid="' + axis.target + '"]' );
+
+				if ( targetElement ) {
+
+					// get the parent of the transfrom element
+
+					var parentVisualElement = targetElement.parentElement;
+
+					// connect the joint of the kinematics model with the element in the visual scene
+
+					connect( axis.jointIndex, parentVisualElement );
+
+				}
+
+			}
+
+			function connect( jointIndex, visualElement ) {
+
+				var visualElementName = visualElement.getAttribute( 'name' );
+				var joint = kinematicsModel.joints[ jointIndex ];
+
+				visualScene.traverse( function ( object ) {
+
+					if ( object.name === visualElementName ) {
+
+						jointMap[ jointIndex ] = {
+							object: object,
+							transforms: buildTransformList( visualElement ),
+							joint: joint,
+							position: joint.zeroPosition
+						};
+
+					}
+
+				} );
+
+			}
+
+			var m0 = new THREE.Matrix4();
+
+			kinematics = {
+
+				joints: kinematicsModel && kinematicsModel.joints,
+
+				getJointValue: function ( jointIndex ) {
+
+					var jointData = jointMap[ jointIndex ];
+
+					if ( jointData ) {
+
+						return jointData.position;
+
+					} else {
+
+						console.warn( 'THREE.ColladaLoader: Joint ' + jointIndex + ' doesn\'t exist.' );
+
+					}
+
+				},
+
+				setJointValue: function ( jointIndex, value ) {
+
+					var jointData = jointMap[ jointIndex ];
+
+					if ( jointData ) {
+
+						var joint = jointData.joint;
+
+						if ( value > joint.limits.max || value < joint.limits.min ) {
+
+							console.warn( 'THREE.ColladaLoader: Joint ' + jointIndex + ' value ' + value + ' outside of limits (min: ' + joint.limits.min + ', max: ' + joint.limits.max + ').' );
+
+						} else if ( joint.static ) {
+
+							console.warn( 'THREE.ColladaLoader: Joint ' + jointIndex + ' is static.' );
+
+						} else {
+
+							var object = jointData.object;
+							var axis = joint.axis;
+							var transforms = jointData.transforms;
+
+							matrix.identity();
+
+							// each update, we have to apply all transforms in the correct order
+
+							for ( var i = 0; i < transforms.length; i ++ ) {
+
+								var transform = transforms[ i ];
+
+								// if there is a connection of the transform node with a joint, apply the joint value
+
+								if ( transform.sid && transform.sid.indexOf( jointIndex ) !== - 1 ) {
+
+									switch ( joint.type ) {
+
+										case 'revolute':
+											matrix.multiply( m0.makeRotationAxis( axis, THREE.Math.degToRad( value ) ) );
+											break;
+
+										case 'prismatic':
+											matrix.multiply( m0.makeTranslation( axis.x * value, axis.y * value, axis.z * value ) );
+											break;
+
+										default:
+											console.warn( 'THREE.ColladaLoader: Unknown joint type: ' + joint.type );
+											break;
+
+									}
+
+								} else {
+
+									switch ( transform.type ) {
+
+										case 'matrix':
+											matrix.multiply( transform.obj );
+											break;
+
+										case 'translate':
+											matrix.multiply( m0.makeTranslation( transform.obj.x, transform.obj.y, transform.obj.z ) );
+											break;
+
+										case 'scale':
+											matrix.scale( transform.obj );
+											break;
+
+										case 'rotate':
+											matrix.multiply( m0.makeRotationAxis( transform.obj, transform.angle ) );
+											break;
+
+									}
+
+								}
+
+							}
+
+							object.matrix.copy( matrix );
+							object.matrix.decompose( object.position, object.quaternion, object.scale );
+
+							jointMap[ jointIndex ].position = value;
+
+						}
+
+					} else {
+
+						console.log( 'THREE.ColladaLoader: ' + jointIndex + ' does not exist.' );
+
+					}
+
+				}
+
+			};
+
+		}
+
+		function buildTransformList( node ) {
+
+			var transforms = [];
+
+			var xml = collada.querySelector( '[id="' + node.id + '"]' );
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'matrix':
+						var array = parseFloats( child.textContent );
+						var matrix = new THREE.Matrix4().fromArray( array ).transpose();
+						transforms.push( {
+							sid: child.getAttribute( 'sid' ),
+							type: child.nodeName,
+							obj: matrix
+						} );
+						break;
+
+					case 'translate':
+					case 'scale':
+						var array = parseFloats( child.textContent );
+						var vector = new THREE.Vector3().fromArray( array );
+						transforms.push( {
+							sid: child.getAttribute( 'sid' ),
+							type: child.nodeName,
+							obj: vector
+						} );
+						break;
+
+					case 'rotate':
+						var array = parseFloats( child.textContent );
+						var vector = new THREE.Vector3().fromArray( array );
+						var angle = THREE.Math.degToRad( array[ 3 ] );
+						transforms.push( {
+							sid: child.getAttribute( 'sid' ),
+							type: child.nodeName,
+							obj: vector,
+							angle: angle
+						} );
+						break;
+
+				}
+
+			}
+
+			return transforms;
+
+		}
+
+		// nodes
+
+		function prepareNodes( xml ) {
+
+			var elements = xml.getElementsByTagName( 'node' );
+
+			// ensure all node elements have id attributes
+
+			for ( var i = 0; i < elements.length; i ++ ) {
+
+				var element = elements[ i ];
+
+				if ( element.hasAttribute( 'id' ) === false ) {
+
+					element.setAttribute( 'id', generateId() );
+
+				}
+
+			}
+
+		}
+
+		var matrix = new THREE.Matrix4();
+		var vector = new THREE.Vector3();
+
+		function parseNode( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'name' ) || '',
+				type: xml.getAttribute( 'type' ),
+				id: xml.getAttribute( 'id' ),
+				sid: xml.getAttribute( 'sid' ),
+				matrix: new THREE.Matrix4(),
+				nodes: [],
+				instanceCameras: [],
+				instanceControllers: [],
+				instanceLights: [],
+				instanceGeometries: [],
+				instanceNodes: [],
+				transforms: {}
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				if ( child.nodeType !== 1 ) continue;
+
+				switch ( child.nodeName ) {
+
+					case 'node':
+						data.nodes.push( child.getAttribute( 'id' ) );
+						parseNode( child );
+						break;
+
+					case 'instance_camera':
+						data.instanceCameras.push( parseId( child.getAttribute( 'url' ) ) );
+						break;
+
+					case 'instance_controller':
+						data.instanceControllers.push( parseNodeInstance( child ) );
+						break;
+
+					case 'instance_light':
+						data.instanceLights.push( parseId( child.getAttribute( 'url' ) ) );
+						break;
+
+					case 'instance_geometry':
+						data.instanceGeometries.push( parseNodeInstance( child ) );
+						break;
+
+					case 'instance_node':
+						data.instanceNodes.push( parseId( child.getAttribute( 'url' ) ) );
+						break;
+
+					case 'matrix':
+						var array = parseFloats( child.textContent );
+						data.matrix.multiply( matrix.fromArray( array ).transpose() );
+						data.transforms[ child.getAttribute( 'sid' ) ] = child.nodeName;
+						break;
+
+					case 'translate':
+						var array = parseFloats( child.textContent );
+						vector.fromArray( array );
+						data.matrix.multiply( matrix.makeTranslation( vector.x, vector.y, vector.z ) );
+						data.transforms[ child.getAttribute( 'sid' ) ] = child.nodeName;
+						break;
+
+					case 'rotate':
+						var array = parseFloats( child.textContent );
+						var angle = THREE.Math.degToRad( array[ 3 ] );
+						data.matrix.multiply( matrix.makeRotationAxis( vector.fromArray( array ), angle ) );
+						data.transforms[ child.getAttribute( 'sid' ) ] = child.nodeName;
+						break;
+
+					case 'scale':
+						var array = parseFloats( child.textContent );
+						data.matrix.scale( vector.fromArray( array ) );
+						data.transforms[ child.getAttribute( 'sid' ) ] = child.nodeName;
+						break;
+
+					case 'extra':
+						break;
+
+					default:
+						console.log( child );
+
+				}
+
+			}
+
+			library.nodes[ data.id ] = data;
+
+			return data;
+
+		}
+
+		function parseNodeInstance( xml ) {
+
+			var data = {
+				id: parseId( xml.getAttribute( 'url' ) ),
+				materials: {},
+				skeletons: []
+			};
+
+			for ( var i = 0; i < xml.childNodes.length; i ++ ) {
+
+				var child = xml.childNodes[ i ];
+
+				switch ( child.nodeName ) {
+
+					case 'bind_material':
+						var instances = child.getElementsByTagName( 'instance_material' );
+
+						for ( var j = 0; j < instances.length; j ++ ) {
+
+							var instance = instances[ j ];
+							var symbol = instance.getAttribute( 'symbol' );
+							var target = instance.getAttribute( 'target' );
+
+							data.materials[ symbol ] = parseId( target );
+
+						}
+
+						break;
+
+					case 'skeleton':
+						data.skeletons.push( parseId( child.textContent ) );
+						break;
+
+					default:
+						break;
+
+				}
+
+			}
+
+			return data;
+
+		}
+
+		function buildSkeleton( skeletons, joints ) {
+
+			var boneData = [];
+			var sortedBoneData = [];
+
+			var i, j, data;
+
+			// a skeleton can have multiple root bones. collada expresses this
+			// situtation with multiple "skeleton" tags per controller instance
+
+			for ( i = 0; i < skeletons.length; i ++ ) {
+
+				var skeleton = skeletons[ i ];
+				var root = getNode( skeleton );
+
+				// setup bone data for a single bone hierarchy
+
+				buildBoneHierarchy( root, joints, boneData );
+
+			}
+
+			// sort bone data (the order is defined in the corresponding controller)
+
+			for ( i = 0; i < joints.length; i ++ ) {
+
+				for ( j = 0; j < boneData.length; j ++ ) {
+
+					data = boneData[ j ];
+
+					if ( data.bone.name === joints[ i ].name ) {
+
+						sortedBoneData[ i ] = data;
+						data.processed = true;
+						break;
+
+					}
+
+				}
+
+			}
+
+			// add unprocessed bone data at the end of the list
+
+			for ( i = 0; i < boneData.length; i ++ ) {
+
+				data = boneData[ i ];
+
+				if ( data.processed === false ) {
+
+					sortedBoneData.push( data );
+					data.processed = true;
+
+				}
+
+			}
+
+			// setup arrays for skeleton creation
+
+			var bones = [];
+			var boneInverses = [];
+
+			for ( i = 0; i < sortedBoneData.length; i ++ ) {
+
+				data = sortedBoneData[ i ];
+
+				bones.push( data.bone );
+				boneInverses.push( data.boneInverse );
+
+			}
+
+			return new THREE.Skeleton( bones, boneInverses );
+
+		}
+
+		function buildBoneHierarchy( root, joints, boneData ) {
+
+			// setup bone data from visual scene
+
+			root.traverse( function ( object ) {
+
+				if ( object.isBone === true ) {
+
+					var boneInverse;
+
+					// retrieve the boneInverse from the controller data
+
+					for ( var i = 0; i < joints.length; i ++ ) {
+
+						var joint = joints[ i ];
+
+						if ( joint.name === object.name ) {
+
+							boneInverse = joint.boneInverse;
+							break;
+
+						}
+
+					}
+
+					if ( boneInverse === undefined ) {
+
+						// Unfortunately, there can be joints in the visual scene that are not part of the
+						// corresponding controller. In this case, we have to create a dummy boneInverse matrix
+						// for the respective bone. This bone won't affect any vertices, because there are no skin indices
+						// and weights defined for it. But we still have to add the bone to the sorted bone list in order to
+						// ensure a correct animation of the model.
+
+						 boneInverse = new THREE.Matrix4();
+
+					}
+
+					boneData.push( { bone: object, boneInverse: boneInverse, processed: false } );
+
+				}
+
+			} );
+
+		}
+
+		function buildNode( data ) {
+
+			var objects = [];
+
+			var matrix = data.matrix;
+			var nodes = data.nodes;
+			var type = data.type;
+			var instanceCameras = data.instanceCameras;
+			var instanceControllers = data.instanceControllers;
+			var instanceLights = data.instanceLights;
+			var instanceGeometries = data.instanceGeometries;
+			var instanceNodes = data.instanceNodes;
+
+			// nodes
+
+			for ( var i = 0, l = nodes.length; i < l; i ++ ) {
+
+				objects.push( getNode( nodes[ i ] ) );
+
+			}
+
+			// instance cameras
+
+			for ( var i = 0, l = instanceCameras.length; i < l; i ++ ) {
+
+ 				var instanceCamera = getCamera( instanceCameras[ i ] );
+
+ 				if ( instanceCamera !== null ) {
+
+ 					objects.push( instanceCamera.clone() );
+
+ 				}
+
+
+			}
+
+			// instance controllers
+
+			for ( var i = 0, l = instanceControllers.length; i < l; i ++ ) {
+
+				var instance = instanceControllers[ i ];
+				var controller = getController( instance.id );
+				var geometries = getGeometry( controller.id );
+				var newObjects = buildObjects( geometries, instance.materials );
+
+				var skeletons = instance.skeletons;
+				var joints = controller.skin.joints;
+
+				var skeleton = buildSkeleton( skeletons, joints );
+
+				for ( var j = 0, jl = newObjects.length; j < jl; j ++ ) {
+
+					var object = newObjects[ j ];
+
+					if ( object.isSkinnedMesh ) {
+
+						object.bind( skeleton, controller.skin.bindMatrix );
+						object.normalizeSkinWeights();
+
+					}
+
+					objects.push( object );
+
+				}
+
+			}
+
+			// instance lights
+
+			for ( var i = 0, l = instanceLights.length; i < l; i ++ ) {
+        var instanceCamera = getCamera( instanceCameras[ i ] );
+
+				if ( instanceCamera !== null ) {
+
+					objects.push( instanceCamera.clone() );
+
+				}
+
+			}
+
+			// instance geometries
+
+			for ( var i = 0, l = instanceGeometries.length; i < l; i ++ ) {
+
+				var instance = instanceGeometries[ i ];
+
+				// a single geometry instance in collada can lead to multiple object3Ds.
+				// this is the case when primitives are combined like triangles and lines
+
+				var geometries = getGeometry( instance.id );
+				var newObjects = buildObjects( geometries, instance.materials );
+
+				for ( var j = 0, jl = newObjects.length; j < jl; j ++ ) {
+
+					objects.push( newObjects[ j ] );
+
+				}
+
+			}
+
+			// instance nodes
+
+			for ( var i = 0, l = instanceNodes.length; i < l; i ++ ) {
+
+				objects.push( getNode( instanceNodes[ i ] ).clone() );
+
+			}
+
+			var object;
+
+			if ( nodes.length === 0 && objects.length === 1 ) {
+
+				object = objects[ 0 ];
+
+			} else {
+
+				object = ( type === 'JOINT' ) ? new THREE.Bone() : new THREE.Group();
+
+				for ( var i = 0; i < objects.length; i ++ ) {
+
+					object.add( objects[ i ] );
+
+				}
+
+			}
+
+			object.name = ( type === 'JOINT' ) ? data.sid : data.name;
+			object.matrix.copy( matrix );
+			object.matrix.decompose( object.position, object.quaternion, object.scale );
+
+			return object;
+
+		}
+
+		function resolveMaterialBinding( keys, instanceMaterials ) {
+
+			var materials = [];
+
+			for ( var i = 0, l = keys.length; i < l; i ++ ) {
+
+				var id = instanceMaterials[ keys[ i ] ];
+				materials.push( getMaterial( id ) );
+
+			}
+
+			return materials;
+
+		}
+
+		function buildObjects( geometries, instanceMaterials ) {
+
+			var objects = [];
+
+			for ( var type in geometries ) {
+
+				var geometry = geometries[ type ];
+
+				var materials = resolveMaterialBinding( geometry.materialKeys, instanceMaterials );
+
+				// handle case if no materials are defined
+
+				if ( materials.length === 0 ) {
+
+					if ( type === 'lines' || type === 'linestrips' ) {
+
+						materials.push( new THREE.LineBasicMaterial() );
+
+					} else {
+
+						materials.push( new THREE.MeshPhongMaterial() );
+
+					}
+
+				}
+
+				// regard skinning
+
+				var skinning = ( geometry.data.attributes.skinIndex !== undefined );
+
+				if ( skinning ) {
+
+					for ( var i = 0, l = materials.length; i < l; i ++ ) {
+
+						materials[ i ].skinning = true;
+
+					}
+
+				}
+
+				// choose between a single or multi materials (material array)
+
+				var material = ( materials.length === 1 ) ? materials[ 0 ] : materials;
+
+				// now create a specific 3D object
+
+				var object;
+
+				switch ( type ) {
+
+					case 'lines':
+						object = new THREE.LineSegments( geometry.data, material );
+						break;
+
+					case 'linestrips':
+						object = new THREE.Line( geometry.data, material );
+						break;
+
+					case 'triangles':
+					case 'polylist':
+						if ( skinning ) {
+
+							object = new THREE.SkinnedMesh( geometry.data, material );
+
+						} else {
+
+							object = new THREE.Mesh( geometry.data, material );
+
+						}
+						break;
+
+				}
+
+				objects.push( object );
+
+			}
+
+			return objects;
+
+		}
+
+		function getNode( id ) {
+
+			return getBuild( library.nodes[ id ], buildNode );
+
+		}
+
+		// visual scenes
+
+		function parseVisualScene( xml ) {
+
+			var data = {
+				name: xml.getAttribute( 'name' ),
+				children: []
+			};
+
+			prepareNodes( xml );
+
+			var elements = getElementsByTagName( xml, 'node' );
+
+			for ( var i = 0; i < elements.length; i ++ ) {
+
+				data.children.push( parseNode( elements[ i ] ) );
+
+			}
+
+			library.visualScenes[ xml.getAttribute( 'id' ) ] = data;
+
+		}
+
+		function buildVisualScene( data ) {
+
+			var group = new THREE.Group();
+			group.name = data.name;
+
+			var children = data.children;
+
+			for ( var i = 0; i < children.length; i ++ ) {
+
+				var child = children[ i ];
+
+				if ( child.id === null ) {
+
+					group.add( buildNode( child ) );
+
+				} else {
+
+					// if there is an ID, let's try to get the finished build (e.g. joints are already build)
+
+					group.add( getNode( child.id ) );
+
+				}
+
+			}
+
+			return group;
+
+		}
+
+		function getVisualScene( id ) {
+
+			return getBuild( library.visualScenes[ id ], buildVisualScene );
+
+		}
+
+		// scenes
+
+		function parseScene( xml ) {
+
+			var instance = getElementsByTagName( xml, 'instance_visual_scene' )[ 0 ];
+			return getVisualScene( parseId( instance.getAttribute( 'url' ) ) );
+
+		}
+
+		function setupAnimations() {
+
+			var clips = library.clips;
+
+			if ( isEmpty( clips ) === true ) {
+
+				if ( isEmpty( library.animations ) === false ) {
+
+					// if there are animations but no clips, we create a default clip for playback
+
+					var tracks = [];
+
+					for ( var id in library.animations ) {
+
+						var animationTracks = getAnimation( id );
+
+						for ( var i = 0, l = animationTracks.length; i < l; i ++ ) {
+
+							tracks.push( animationTracks[ i ] );
+
+						}
+
+					}
+
+					animations.push( new THREE.AnimationClip( 'default', - 1, tracks ) );
+
+				}
+
+			} else {
+
+				for ( var id in clips ) {
+
+					animations.push( getAnimationClip( id ) );
+
+				}
+
+			}
+
+		}
+
+		console.time( 'THREE.ColladaLoader' );
+
+		if ( text.length === 0 ) {
+
+			return { scene: new THREE.Scene() };
+
+		}
+
+		console.time( 'THREE.ColladaLoader: DOMParser' );
+
+		var xml = new DOMParser().parseFromString( text, 'application/xml' );
+
+		console.timeEnd( 'THREE.ColladaLoader: DOMParser' );
+
+		var collada = getElementsByTagName( xml, 'COLLADA' )[ 0 ];
+
+		// metadata
+
+		var version = collada.getAttribute( 'version' );
+		console.log( 'THREE.ColladaLoader: File version', version );
+
+		var asset = parseAsset( getElementsByTagName( collada, 'asset' )[ 0 ] );
+		var textureLoader = new THREE.TextureLoader( this.manager );
+		textureLoader.setPath( path ).setCrossOrigin( this.crossOrigin );
+
+		//
+
+		var animations = [];
+		var kinematics = {};
+		var count = 0;
+
+		//
+
+		var library = {
+			animations: {},
+			clips: {},
+			controllers: {},
+			images: {},
+			effects: {},
+			materials: {},
+			cameras: {},
+			lights: {},
+			geometries: {},
+			nodes: {},
+			visualScenes: {},
+			kinematicsModels: {},
+			kinematicsScenes: {}
+		};
+
+		console.time( 'THREE.ColladaLoader: Parse' );
+
+		parseLibrary( collada, 'library_animations', 'animation', parseAnimation );
+		parseLibrary( collada, 'library_animation_clips', 'animation_clip', parseAnimationClip );
+		parseLibrary( collada, 'library_controllers', 'controller', parseController );
+		parseLibrary( collada, 'library_images', 'image', parseImage );
+		parseLibrary( collada, 'library_effects', 'effect', parseEffect );
+		parseLibrary( collada, 'library_materials', 'material', parseMaterial );
+		parseLibrary( collada, 'library_cameras', 'camera', parseCamera );
+		parseLibrary( collada, 'library_lights', 'light', parseLight );
+		parseLibrary( collada, 'library_geometries', 'geometry', parseGeometry );
+		parseLibrary( collada, 'library_nodes', 'node', parseNode );
+		parseLibrary( collada, 'library_visual_scenes', 'visual_scene', parseVisualScene );
+		parseLibrary( collada, 'library_kinematics_models', 'kinematics_model', parseKinematicsModel );
+		parseLibrary( collada, 'scene', 'instance_kinematics_scene', parseKinematicsScene );
+
+		console.timeEnd( 'THREE.ColladaLoader: Parse' );
+
+		console.time( 'THREE.ColladaLoader: Build' );
+
+		buildLibrary( library.animations, buildAnimation );
+		buildLibrary( library.clips, buildAnimationClip );
+		buildLibrary( library.controllers, buildController );
+		buildLibrary( library.images, buildImage );
+		buildLibrary( library.effects, buildEffect );
+		buildLibrary( library.materials, buildMaterial );
+		buildLibrary( library.cameras, buildCamera );
+		buildLibrary( library.lights, buildLight );
+		buildLibrary( library.geometries, buildGeometry );
+		buildLibrary( library.visualScenes, buildVisualScene );
+
+		console.timeEnd( 'THREE.ColladaLoader: Build' );
+
+		setupAnimations();
+		setupKinematics();
+
+		var scene = parseScene( getElementsByTagName( collada, 'scene' )[ 0 ] );
+
+    /*
+     * up_axis of some robot models in ROS world aren't properly set because
+     * rviz ignores this field. Thus, ignores Z_UP to show urdfs just like rviz.
+     * See https://github.com/ros-visualization/rviz/issues/1045 for the detail
+      if ( asset.upAxis === 'Z_UP' ) {
+
+        scene.rotation.x = - Math.PI / 2;
+
+      }
+     */
+
+		scene.scale.multiplyScalar( asset.unit );
+
+		console.timeEnd( 'THREE.ColladaLoader' );
+
+		return {
+			animations: animations,
+			kinematics: kinematics,
+			library: library,
+			scene: scene
+		};
+
+	}
+
+};
+
+/* jshint ignore:end */
+
 /**
  * @author Julius Kammerl - jkammerl@willowgarage.com
  */
@@ -2623,34 +6125,46 @@ ROS3D.MeshResource = function(options) {
         console.warn(message);
       }
     };
-    loader.load(uri, function colladaReady(collada) {
-      // check for a scale factor in ColladaLoader2
-      // add a texture to anything that is missing one
-      if(material !== null) {
-        collada.scene.traverse(function(child) {
-          if(child instanceof THREE.Mesh) {
-            if(child.material === undefined) {
-              child.material = material;
+    loader.load(
+      uri,
+      function colladaReady(collada) {
+        // check for a scale factor in ColladaLoader2
+        // add a texture to anything that is missing one
+        if(material !== null) {
+          collada.scene.traverse(function(child) {
+            if(child instanceof THREE.Mesh) {
+              if(child.material === undefined) {
+                child.material = material;
+              }
             }
-          }
-        });
-      }
+          });
+        }
 
-      that.add(collada.scene);
-    });
+        that.add(collada.scene);
+      },
+      /*onProgress=*/null,
+      function onLoadError(error) {
+        console.error(error);
+      });
   } else if (fileType === '.stl') {
     loader = new THREE.STLLoader();
     {
-      loader.load(uri, function ( geometry ) {
-        geometry.computeFaceNormals();
-        var mesh;
-        if(material !== null) {
-          mesh = new THREE.Mesh( geometry, material );
-        } else {
-          mesh = new THREE.Mesh( geometry, new THREE.MeshBasicMaterial( { color: 0x999999 } ) );
-        }
-        that.add(mesh);
-      } );
+      loader.load(uri,
+                  function ( geometry ) {
+                    geometry.computeFaceNormals();
+                    var mesh;
+                    if(material !== null) {
+                      mesh = new THREE.Mesh( geometry, material );
+                    } else {
+                      mesh = new THREE.Mesh( geometry,
+                                             new THREE.MeshBasicMaterial( { color: 0x999999 } ) );
+                    }
+                    that.add(mesh);
+                  },
+                  /*onProgress=*/null,
+                  function onLoadError(error) {
+                    console.error(error);
+                  });
     }
   }
 };
diff --git a/build/ros3d.min.js b/build/ros3d.min.js
index cc983fae..5f7a5ce9 100644
--- a/build/ros3d.min.js
+++ b/build/ros3d.min.js
@@ -1,3 +1,4 @@
-function setFrame(a,b){null===a.sn&&(a.sn=new ROS3D.SceneNode({frameID:b,tfClient:a.tfClient,object:a.ps}),a.rootObject.add(a.sn))}function finishedUpdate(a,b){null===a.first_size&&(a.first_size=b,a.max_pts=Math.max(a.max_pts,b));for(var c=b;c<a.prev_pts;c++)a.alpha[c]=0;a.prev_pts=b,a.geom.verticesNeedUpdate=!0,a.attribs.customColor.needsUpdate=!0,a.attribs.alpha.needsUpdate=!0,b>a.max_pts&&console.error("Attempted to draw more points than max_pts allows")}function read_point(a,b,c){for(var d=[],e=a.point_step*b,f=0;f<a.fields.length;f++){var g=e+a.fields[f].offset;"rgb"===a.fields[f].name?d.rgb=c.getInt32(g,1):d[a.fields[f].name]=c.getFloat32(g,1)}return d}function decode64(a){for(var b=[],c=0,d=0,e=0,f=a.length;e<f;e++)c+=BASE64.indexOf(a[e]),d+=6,d>=8&&(d-=8,b.push(c>>d),c&=Math.pow(2,d)-1),c<<=6;return b}var ROS3D=ROS3D||{REVISION:"0.18.0"};ROS3D.MARKER_ARROW=0,ROS3D.MARKER_CUBE=1,ROS3D.MARKER_SPHERE=2,ROS3D.MARKER_CYLINDER=3,ROS3D.MARKER_LINE_STRIP=4,ROS3D.MARKER_LINE_LIST=5,ROS3D.MARKER_CUBE_LIST=6,ROS3D.MARKER_SPHERE_LIST=7,ROS3D.MARKER_POINTS=8,ROS3D.MARKER_TEXT_VIEW_FACING=9,ROS3D.MARKER_MESH_RESOURCE=10,ROS3D.MARKER_TRIANGLE_LIST=11,ROS3D.INTERACTIVE_MARKER_KEEP_ALIVE=0,ROS3D.INTERACTIVE_MARKER_POSE_UPDATE=1,ROS3D.INTERACTIVE_MARKER_MENU_SELECT=2,ROS3D.INTERACTIVE_MARKER_BUTTON_CLICK=3,ROS3D.INTERACTIVE_MARKER_MOUSE_DOWN=4,ROS3D.INTERACTIVE_MARKER_MOUSE_UP=5,ROS3D.INTERACTIVE_MARKER_NONE=0,ROS3D.INTERACTIVE_MARKER_MENU=1,ROS3D.INTERACTIVE_MARKER_BUTTON=2,ROS3D.INTERACTIVE_MARKER_MOVE_AXIS=3,ROS3D.INTERACTIVE_MARKER_MOVE_PLANE=4,ROS3D.INTERACTIVE_MARKER_ROTATE_AXIS=5,ROS3D.INTERACTIVE_MARKER_MOVE_ROTATE=6,ROS3D.INTERACTIVE_MARKER_INHERIT=0,ROS3D.INTERACTIVE_MARKER_FIXED=1,ROS3D.INTERACTIVE_MARKER_VIEW_FACING=2,ROS3D.makeColorMaterial=function(a,b,c,d){var e=new THREE.Color;return e.setRGB(a,b,c),d<=.99?new THREE.MeshBasicMaterial({color:e.getHex(),opacity:d+.1,transparent:!0,depthWrite:!0,blendSrc:THREE.SrcAlphaFactor,blendDst:THREE.OneMinusSrcAlphaFactor,blendEquation:THREE.ReverseSubtractEquation,blending:THREE.NormalBlending}):new THREE.MeshPhongMaterial({color:e.getHex(),opacity:d,blending:THREE.NormalBlending})},ROS3D.intersectPlane=function(a,b,c){var d=new THREE.Vector3,e=new THREE.Vector3;d.subVectors(b,a.origin);var f=a.direction.dot(c);if(!(Math.abs(f)<a.precision)){var g=c.dot(d)/f;return e.addVectors(a.origin,a.direction.clone().multiplyScalar(g)),e}},ROS3D.findClosestPoint=function(a,b){var c=new THREE.Vector3;c.subVectors(a.origin,b.origin);var d=b.direction.clone(),e=a.direction.clone(),f=c.dot(d),g=d.dot(e),h=c.dot(e),i=d.dot(d),j=e.dot(e),k=j*i-g*g;if(!(Math.abs(k)<=1e-4)){return(f*g-h*i)/k}},ROS3D.closestAxisPoint=function(a,b,c){var d=a.origin.clone();d.project(b);var e=a.direction.clone().add(a.origin);e.project(b);var f=e.clone().sub(d),g=new THREE.Vector2,h=g.subVectors(c,d).dot(f)/f.dot(f),i=new THREE.Vector2;i.addVectors(d,f.clone().multiplyScalar(h));var j=new THREE.Vector3(i.x,i.y,.5);j.unproject(b);var k=new THREE.Ray(b.position,j.sub(b.position).normalize());return ROS3D.findClosestPoint(a,k)},ROS3D.DepthCloud=function(a){a=a||{},THREE.Object3D.call(this),this.url=a.url,this.streamType=a.streamType||"vp8",this.f=a.f||526,this.pointSize=a.pointSize||3,this.width=a.width||1024,this.height=a.height||1024,this.whiteness=a.whiteness||0,this.varianceThreshold=a.varianceThreshold||16667e-9;this.isMjpeg="mjpeg"===this.streamType.toLowerCase(),this.video=document.createElement(this.isMjpeg?"img":"video"),this.video.addEventListener(this.isMjpeg?"load":"loadedmetadata",this.metaLoaded.bind(this),!1),this.isMjpeg||(this.video.loop=!0),this.video.src=this.url,this.video.crossOrigin="Anonymous",this.video.setAttribute("crossorigin","Anonymous"),this.vertex_shader=["uniform sampler2D map;","","uniform float width;","uniform float height;","uniform float nearClipping, farClipping;","","uniform float pointSize;","uniform float zOffset;","","uniform float focallength;","","varying vec2 vUvP;","varying vec2 colorP;","","varying float depthVariance;","varying float maskVal;","","float sampleDepth(vec2 pos)","  {","    float depth;","    ","    vec2 vUv = vec2( pos.x / (width*2.0), pos.y / (height*2.0)+0.5 );","    vec2 vUv2 = vec2( pos.x / (width*2.0)+0.5, pos.y / (height*2.0)+0.5 );","    ","    vec4 depthColor = texture2D( map, vUv );","    ","    depth = ( depthColor.r + depthColor.g + depthColor.b ) / 3.0 ;","    ","    if (depth>0.99)","    {","      vec4 depthColor2 = texture2D( map, vUv2 );","      float depth2 = ( depthColor2.r + depthColor2.g + depthColor2.b ) / 3.0 ;","      depth = 0.99+depth2;","    }","    ","    return depth;","  }","","float median(float a, float b, float c)","  {","    float r=a;","    ","    if ( (a<b) && (b<c) )","    {","      r = b;","    }","    if ( (a<c) && (c<b) )","    {","      r = c;","    }","    return r;","  }","","float variance(float d1, float d2, float d3, float d4, float d5, float d6, float d7, float d8, float d9)","  {","    float mean = (d1 + d2 + d3 + d4 + d5 + d6 + d7 + d8 + d9) / 9.0;","    float t1 = (d1-mean);","    float t2 = (d2-mean);","    float t3 = (d3-mean);","    float t4 = (d4-mean);","    float t5 = (d5-mean);","    float t6 = (d6-mean);","    float t7 = (d7-mean);","    float t8 = (d8-mean);","    float t9 = (d9-mean);","    float v = (t1*t1+t2*t2+t3*t3+t4*t4+t5*t5+t6*t6+t7*t7+t8*t8+t9*t9)/9.0;","    return v;","  }","","vec2 decodeDepth(vec2 pos)","  {","    vec2 ret;","    ","    ","    float depth1 = sampleDepth(vec2(position.x-1.0, position.y-1.0));","    float depth2 = sampleDepth(vec2(position.x, position.y-1.0));","    float depth3 = sampleDepth(vec2(position.x+1.0, position.y-1.0));","    float depth4 = sampleDepth(vec2(position.x-1.0, position.y));","    float depth5 = sampleDepth(vec2(position.x, position.y));","    float depth6 = sampleDepth(vec2(position.x+1.0, position.y));","    float depth7 = sampleDepth(vec2(position.x-1.0, position.y+1.0));","    float depth8 = sampleDepth(vec2(position.x, position.y+1.0));","    float depth9 = sampleDepth(vec2(position.x+1.0, position.y+1.0));","    ","    float median1 = median(depth1, depth2, depth3);","    float median2 = median(depth4, depth5, depth6);","    float median3 = median(depth7, depth8, depth9);","    ","    ret.x = median(median1, median2, median3);","    ret.y = variance(depth1, depth2, depth3, depth4, depth5, depth6, depth7, depth8, depth9);","    ","    return ret;","    ","  }","","","void main() {","  ","  vUvP = vec2( position.x / (width*2.0), position.y / (height*2.0)+0.5 );","  colorP = vec2( position.x / (width*2.0)+0.5 , position.y / (height*2.0)  );","  ","  vec4 pos = vec4(0.0,0.0,0.0,0.0);","  depthVariance = 0.0;","  ","  if ( (vUvP.x<0.0)|| (vUvP.x>0.5) || (vUvP.y<0.5) || (vUvP.y>0.0))","  {","    vec2 smp = decodeDepth(vec2(position.x, position.y));","    float depth = smp.x;","    depthVariance = smp.y;","    ","    float z = -depth;","    ","    pos = vec4(","      ( position.x / width - 0.5 ) * z * (1000.0/focallength) * -1.0,","      ( position.y / height - 0.5 ) * z * (1000.0/focallength),","      (- z + zOffset / 1000.0) * 2.0,","      1.0);","    ","    vec2 maskP = vec2( position.x / (width*2.0), position.y / (height*2.0)  );","    vec4 maskColor = texture2D( map, maskP );","    maskVal = ( maskColor.r + maskColor.g + maskColor.b ) / 3.0 ;","  }","  ","  gl_PointSize = pointSize;","  gl_Position = projectionMatrix * modelViewMatrix * pos;","  ","}"].join("\n"),this.fragment_shader=["uniform sampler2D map;","uniform float varianceThreshold;","uniform float whiteness;","","varying vec2 vUvP;","varying vec2 colorP;","","varying float depthVariance;","varying float maskVal;","","","void main() {","  ","  vec4 color;","  ","  if ( (depthVariance>varianceThreshold) || (maskVal>0.5) ||(vUvP.x<0.0)|| (vUvP.x>0.5) || (vUvP.y<0.5) || (vUvP.y>1.0))","  {  ","    discard;","  }","  else ","  {","    color = texture2D( map, colorP );","    ","    float fader = whiteness /100.0;","    ","    color.r = color.r * (1.0-fader)+ fader;","    ","    color.g = color.g * (1.0-fader)+ fader;","    ","    color.b = color.b * (1.0-fader)+ fader;","    ","    color.a = 1.0;//smoothstep( 20000.0, -20000.0, gl_FragCoord.z / gl_FragCoord.w );","  }","  ","  gl_FragColor = vec4( color.r, color.g, color.b, color.a );","  ","}"].join("\n")},ROS3D.DepthCloud.prototype.__proto__=THREE.Object3D.prototype,ROS3D.DepthCloud.prototype.metaLoaded=function(){this.metaLoaded=!0,this.initStreamer()},ROS3D.DepthCloud.prototype.initStreamer=function(){if(this.metaLoaded){this.texture=new THREE.Texture(this.video),this.geometry=new THREE.Geometry;for(var a=0,b=this.width*this.height;a<b;a++){var c=new THREE.Vector3;c.x=a%this.width,c.y=Math.floor(a/this.width),this.geometry.vertices.push(c)}this.material=new THREE.ShaderMaterial({uniforms:{map:{type:"t",value:this.texture},width:{type:"f",value:this.width},height:{type:"f",value:this.height},focallength:{type:"f",value:this.f},pointSize:{type:"f",value:this.pointSize},zOffset:{type:"f",value:0},whiteness:{type:"f",value:this.whiteness},varianceThreshold:{type:"f",value:this.varianceThreshold}},vertexShader:this.vertex_shader,fragmentShader:this.fragment_shader}),this.mesh=new THREE.ParticleSystem(this.geometry,this.material),this.mesh.position.x=0,this.mesh.position.y=0,this.add(this.mesh);var d=this;setInterval(function(){(d.isMjpeg||d.video.readyState===d.video.HAVE_ENOUGH_DATA)&&(d.texture.needsUpdate=!0)},1e3/30)}},ROS3D.DepthCloud.prototype.startStream=function(){this.isMjpeg||this.video.play()},ROS3D.DepthCloud.prototype.stopStream=function(){this.isMjpeg||this.video.pause()},ROS3D.InteractiveMarker=function(a){THREE.Object3D.call(this),THREE.EventDispatcher.call(this);var b=this;a=a||{};var c=a.handle;this.name=c.name;var d=a.camera,e=a.path||"/",f=a.loader||ROS3D.COLLADA_LOADER_2;this.dragging=!1,this.onServerSetPose({pose:c.pose}),this.dragStart={position:new THREE.Vector3,orientation:new THREE.Quaternion,positionWorld:new THREE.Vector3,orientationWorld:new THREE.Quaternion,event3d:{}},c.controls.forEach(function(a){b.add(new ROS3D.InteractiveMarkerControl({parent:b,handle:c,message:a,camera:d,path:e,loader:f}))}),c.menuEntries.length>0&&(this.menu=new ROS3D.InteractiveMarkerMenu({menuEntries:c.menuEntries,menuFontSize:c.menuFontSize}),this.menu.addEventListener("menu-select",function(a){b.dispatchEvent(a)}))},ROS3D.InteractiveMarker.prototype.__proto__=THREE.Object3D.prototype,ROS3D.InteractiveMarker.prototype.showMenu=function(a,b){this.menu&&this.menu.show(a,b)},ROS3D.InteractiveMarker.prototype.moveAxis=function(a,b,c){if(this.dragging){var d=a.currentControlOri,e=b.clone().applyQuaternion(d),f=this.dragStart.event3d.intersection.point,g=e.clone().applyQuaternion(this.dragStart.orientationWorld.clone()),h=new THREE.Ray(f,g),i=ROS3D.closestAxisPoint(h,c.camera,c.mousePos),j=new THREE.Vector3;j.addVectors(this.dragStart.position,e.clone().applyQuaternion(this.dragStart.orientation).multiplyScalar(i)),this.setPosition(a,j),c.stopPropagation()}},ROS3D.InteractiveMarker.prototype.movePlane=function(a,b,c){if(this.dragging){var d=a.currentControlOri,e=b.clone().applyQuaternion(d),f=this.dragStart.event3d.intersection.point,g=e.clone().applyQuaternion(this.dragStart.orientationWorld),h=ROS3D.intersectPlane(c.mouseRay,f,g),i=new THREE.Vector3;i.subVectors(h,f),i.add(this.dragStart.positionWorld),this.setPosition(a,i),c.stopPropagation()}},ROS3D.InteractiveMarker.prototype.rotateAxis=function(a,b,c){if(this.dragging){a.updateMatrixWorld();var d=a.currentControlOri,e=d.clone().multiply(b.clone()),f=new THREE.Vector3(1,0,0).applyQuaternion(e),g=this.dragStart.event3d.intersection.point,h=f.applyQuaternion(this.dragStart.orientationWorld),i=ROS3D.intersectPlane(c.mouseRay,g,h),j=new THREE.Ray(this.dragStart.positionWorld,h),k=ROS3D.intersectPlane(j,g,h),l=this.dragStart.orientationWorld.clone().multiply(e),m=l.clone().inverse();i.sub(k),i.applyQuaternion(m);var n=this.dragStart.event3d.intersection.point.clone();n.sub(k),n.applyQuaternion(m);var o=Math.atan2(i.y,i.z),p=Math.atan2(n.y,n.z),q=p-o,r=new THREE.Quaternion;r.setFromAxisAngle(f,q),this.setOrientation(a,r.multiply(this.dragStart.orientationWorld)),c.stopPropagation()}},ROS3D.InteractiveMarker.prototype.feedbackEvent=function(a,b){this.dispatchEvent({type:a,position:this.position.clone(),orientation:this.quaternion.clone(),controlName:b.name})},ROS3D.InteractiveMarker.prototype.startDrag=function(a,b){if(0===b.domEvent.button){b.stopPropagation(),this.dragging=!0,this.updateMatrixWorld(!0);var c=new THREE.Vector3;this.matrixWorld.decompose(this.dragStart.positionWorld,this.dragStart.orientationWorld,c),this.dragStart.position=this.position.clone(),this.dragStart.orientation=this.quaternion.clone(),this.dragStart.event3d=b,this.feedbackEvent("user-mousedown",a)}},ROS3D.InteractiveMarker.prototype.stopDrag=function(a,b){0===b.domEvent.button&&(b.stopPropagation(),this.dragging=!1,this.dragStart.event3d={},this.onServerSetPose(this.bufferedPoseEvent),this.bufferedPoseEvent=void 0,this.feedbackEvent("user-mouseup",a))},ROS3D.InteractiveMarker.prototype.buttonClick=function(a,b){b.stopPropagation(),this.feedbackEvent("user-button-click",a)},ROS3D.InteractiveMarker.prototype.setPosition=function(a,b){this.position.copy(b),this.feedbackEvent("user-pose-change",a)},ROS3D.InteractiveMarker.prototype.setOrientation=function(a,b){b.normalize(),this.quaternion.copy(b),this.feedbackEvent("user-pose-change",a)},ROS3D.InteractiveMarker.prototype.onServerSetPose=function(a){if(void 0!==a)if(this.dragging)this.bufferedPoseEvent=a;else{var b=a.pose;this.position.copy(b.position),this.quaternion.copy(b.orientation),this.updateMatrixWorld(!0)}},ROS3D.InteractiveMarker.prototype.dispose=function(){var a=this;this.children.forEach(function(b){b.children.forEach(function(a){a.dispose(),b.remove(a)}),a.remove(b)})},Object.assign(ROS3D.InteractiveMarker.prototype,THREE.EventDispatcher.prototype),ROS3D.InteractiveMarkerClient=function(a){a=a||{},this.ros=a.ros,this.tfClient=a.tfClient,this.topicName=a.topic,this.path=a.path||"/",this.camera=a.camera,this.rootObject=a.rootObject||new THREE.Object3D,this.loader=a.loader||ROS3D.COLLADA_LOADER_2,this.menuFontSize=a.menuFontSize||"0.8em",this.interactiveMarkers={},this.updateTopic=null,this.feedbackTopic=null,this.topicName&&this.subscribe(this.topicName)},ROS3D.InteractiveMarkerClient.prototype.subscribe=function(a){this.unsubscribe(),this.updateTopic=new ROSLIB.Topic({ros:this.ros,name:a+"/tunneled/update",messageType:"visualization_msgs/InteractiveMarkerUpdate",compression:"png"}),this.updateTopic.subscribe(this.processUpdate.bind(this)),this.feedbackTopic=new ROSLIB.Topic({ros:this.ros,name:a+"/feedback",messageType:"visualization_msgs/InteractiveMarkerFeedback",compression:"png"}),this.feedbackTopic.advertise(),this.initService=new ROSLIB.Service({ros:this.ros,name:a+"/tunneled/get_init",serviceType:"demo_interactive_markers/GetInit"});var b=new ROSLIB.ServiceRequest({});this.initService.callService(b,this.processInit.bind(this))},ROS3D.InteractiveMarkerClient.prototype.unsubscribe=function(){this.updateTopic&&this.updateTopic.unsubscribe(),this.feedbackTopic&&this.feedbackTopic.unadvertise();for(var a in this.interactiveMarkers)this.eraseIntMarker(a);this.interactiveMarkers={}},ROS3D.InteractiveMarkerClient.prototype.processInit=function(a){var b=a.msg;b.erases=[];for(var c in this.interactiveMarkers)b.erases.push(c);b.poses=[],this.processUpdate(b)},ROS3D.InteractiveMarkerClient.prototype.processUpdate=function(a){var b=this;a.erases.forEach(function(a){b.eraseIntMarker(a)}),a.poses.forEach(function(a){var c=b.interactiveMarkers[a.name];c&&c.setPoseFromServer(a.pose)}),a.markers.forEach(function(a){var c=b.interactiveMarkers[a.name];c&&b.eraseIntMarker(c.name);var d=new ROS3D.InteractiveMarkerHandle({message:a,feedbackTopic:b.feedbackTopic,tfClient:b.tfClient,menuFontSize:b.menuFontSize});b.interactiveMarkers[a.name]=d;var e=new ROS3D.InteractiveMarker({handle:d,camera:b.camera,path:b.path,loader:b.loader});e.name=a.name,b.rootObject.add(e),d.on("pose",function(a){e.onServerSetPose({pose:a})}),e.addEventListener("user-pose-change",d.setPoseFromClientBound),e.addEventListener("user-mousedown",d.onMouseDownBound),e.addEventListener("user-mouseup",d.onMouseUpBound),e.addEventListener("user-button-click",d.onButtonClickBound),e.addEventListener("menu-select",d.onMenuSelectBound),d.subscribeTf()})},ROS3D.InteractiveMarkerClient.prototype.eraseIntMarker=function(a){if(this.interactiveMarkers[a]){var b=this.rootObject.getObjectByName(a);this.rootObject.remove(b);var c=this.interactiveMarkers[a];c.unsubscribeTf(),b.removeEventListener("user-pose-change",c.setPoseFromClientBound),b.removeEventListener("user-mousedown",c.onMouseDownBound),b.removeEventListener("user-mouseup",c.onMouseUpBound),b.removeEventListener("user-button-click",c.onButtonClickBound),b.removeEventListener("menu-select",c.onMenuSelectBound),delete this.interactiveMarkers[a],b.dispose()}},ROS3D.InteractiveMarkerControl=function(a){function b(a){a.stopPropagation()}var c=this;THREE.Object3D.call(this),a=a||{},this.parent=a.parent;var d=a.handle,e=a.message;this.name=e.name,this.camera=a.camera,this.path=a.path||"/",this.loader=a.loader||ROS3D.COLLADA_LOADER_2,this.dragging=!1,this.startMousePos=new THREE.Vector2;var f=new THREE.Quaternion(e.orientation.x,e.orientation.y,e.orientation.z,e.orientation.w);f.normalize();var g=new THREE.Vector3(1,0,0);switch(g.applyQuaternion(f),this.currentControlOri=new THREE.Quaternion,e.interaction_mode){case ROS3D.INTERACTIVE_MARKER_MOVE_AXIS:this.addEventListener("mousemove",this.parent.moveAxis.bind(this.parent,this,g)),this.addEventListener("touchmove",this.parent.moveAxis.bind(this.parent,this,g));break;case ROS3D.INTERACTIVE_MARKER_ROTATE_AXIS:this.addEventListener("mousemove",this.parent.rotateAxis.bind(this.parent,this,f));break;case ROS3D.INTERACTIVE_MARKER_MOVE_PLANE:this.addEventListener("mousemove",this.parent.movePlane.bind(this.parent,this,g));break;case ROS3D.INTERACTIVE_MARKER_BUTTON:this.addEventListener("click",this.parent.buttonClick.bind(this.parent,this))}e.interaction_mode!==ROS3D.INTERACTIVE_MARKER_NONE&&(this.addEventListener("mousedown",this.parent.startDrag.bind(this.parent,this)),this.addEventListener("mouseup",this.parent.stopDrag.bind(this.parent,this)),this.addEventListener("contextmenu",this.parent.showMenu.bind(this.parent,this)),this.addEventListener("mouseup",function(a){0===c.startMousePos.distanceToSquared(a.mousePos)&&(a.type="contextmenu",c.dispatchEvent(a))}),this.addEventListener("mouseover",b),this.addEventListener("mouseout",b),this.addEventListener("click",b),this.addEventListener("mousedown",function(a){c.startMousePos=a.mousePos}),this.addEventListener("touchstart",function(a){1===a.domEvent.touches.length&&(a.type="mousedown",a.domEvent.button=0,c.dispatchEvent(a))}),this.addEventListener("touchmove",function(a){1===a.domEvent.touches.length&&(a.type="mousemove",a.domEvent.button=0,c.dispatchEvent(a))}),this.addEventListener("touchend",function(a){0===a.domEvent.touches.length&&(a.domEvent.button=0,a.type="mouseup",c.dispatchEvent(a),a.type="click",c.dispatchEvent(a))}));var h=new THREE.Quaternion,i=this.parent.position.clone().multiplyScalar(-1);switch(e.orientation_mode){case ROS3D.INTERACTIVE_MARKER_INHERIT:h=this.parent.quaternion.clone().inverse(),this.updateMatrixWorld=function(a){ROS3D.InteractiveMarkerControl.prototype.updateMatrixWorld.call(c,a),c.currentControlOri.copy(c.quaternion),c.currentControlOri.normalize()};break;case ROS3D.INTERACTIVE_MARKER_FIXED:this.updateMatrixWorld=function(a){c.quaternion.copy(c.parent.quaternion.clone().inverse()),c.updateMatrix(),c.matrixWorldNeedsUpdate=!0,ROS3D.InteractiveMarkerControl.prototype.updateMatrixWorld.call(c,a),c.currentControlOri.copy(c.quaternion)};break;case ROS3D.INTERACTIVE_MARKER_VIEW_FACING:var j=e.independent_marker_orientation;this.updateMatrixWorld=function(a){c.camera.updateMatrixWorld();var b=(new THREE.Matrix4).extractRotation(c.camera.matrixWorld),d=new THREE.Matrix4,e=.5*Math.PI,f=new THREE.Euler(-e,0,e);d.makeRotationFromEuler(f);var g=new THREE.Matrix4;g.getInverse(c.parent.matrixWorld),b.multiplyMatrices(b,d),b.multiplyMatrices(g,b),c.currentControlOri.setFromRotationMatrix(b),j||(c.quaternion.copy(c.currentControlOri),c.updateMatrix(),c.matrixWorldNeedsUpdate=!0),ROS3D.InteractiveMarkerControl.prototype.updateMatrixWorld.call(c,a)};break;default:console.error("Unkown orientation mode: "+e.orientation_mode)}var k=new ROSLIB.TFClient({ros:d.tfClient.ros,fixedFrame:d.message.header.frame_id,serverName:d.tfClient.serverName});e.markers.forEach(function(a){var b=function(b){var d=new ROS3D.Marker({message:a,path:c.path,loader:c.loader});if(null!==b){var e=new ROSLIB.Pose({position:d.position,orientation:d.quaternion});e.applyTransform(new ROSLIB.Transform(b));var f=new ROS3D.Marker({message:a,path:c.path,loader:c.loader});f.position.add(i),f.position.applyQuaternion(h),f.quaternion.multiplyQuaternions(h,f.quaternion);var g=new THREE.Vector3(f.position.x,f.position.y,f.position.z),j=new ROSLIB.Transform({translation:g,orientation:f.quaternion});e.applyTransform(j),d.setPose(e),d.updateMatrixWorld(),k.unsubscribe(a.header.frame_id)}c.add(d)};""!==a.header.frame_id?k.subscribe(a.header.frame_id,b):b(null)})},ROS3D.InteractiveMarkerControl.prototype.__proto__=THREE.Object3D.prototype,ROS3D.InteractiveMarkerHandle=function(a){a=a||{},this.message=a.message,this.feedbackTopic=a.feedbackTopic,this.tfClient=a.tfClient,this.menuFontSize=a.menuFontSize||"0.8em",this.name=this.message.name,this.header=this.message.header,this.controls=this.message.controls,this.menuEntries=this.message.menu_entries,this.dragging=!1,this.timeoutHandle=null,this.tfTransform=new ROSLIB.Transform,this.pose=new ROSLIB.Pose,this.setPoseFromClientBound=this.setPoseFromClient.bind(this),this.onMouseDownBound=this.onMouseDown.bind(this),this.onMouseUpBound=this.onMouseUp.bind(this),this.onButtonClickBound=this.onButtonClick.bind(this),this.onMenuSelectBound=this.onMenuSelect.bind(this),this.setPoseFromServer(this.message.pose),this.tfUpdateBound=this.tfUpdate.bind(this)},ROS3D.InteractiveMarkerHandle.prototype.__proto__=EventEmitter2.prototype,ROS3D.InteractiveMarkerHandle.prototype.subscribeTf=function(){0===this.message.header.stamp.secs&&0===this.message.header.stamp.nsecs&&this.tfClient.subscribe(this.message.header.frame_id,this.tfUpdateBound)},ROS3D.InteractiveMarkerHandle.prototype.unsubscribeTf=function(){this.tfClient.unsubscribe(this.message.header.frame_id,this.tfUpdateBound)},ROS3D.InteractiveMarkerHandle.prototype.emitServerPoseUpdate=function(){var a=new ROSLIB.Pose(this.pose);a.applyTransform(this.tfTransform),this.emit("pose",a)},ROS3D.InteractiveMarkerHandle.prototype.setPoseFromServer=function(a){this.pose=new ROSLIB.Pose(a),this.emitServerPoseUpdate()},ROS3D.InteractiveMarkerHandle.prototype.tfUpdate=function(a){this.tfTransform=new ROSLIB.Transform(a),this.emitServerPoseUpdate()},ROS3D.InteractiveMarkerHandle.prototype.setPoseFromClient=function(a){this.pose=new ROSLIB.Pose(a);var b=this.tfTransform.clone();b.rotation.invert(),b.translation.multiplyQuaternion(b.rotation),b.translation.x*=-1,b.translation.y*=-1,b.translation.z*=-1,this.pose.applyTransform(b),this.sendFeedback(ROS3D.INTERACTIVE_MARKER_POSE_UPDATE,void 0,0,a.controlName),this.dragging&&(this.timeoutHandle&&clearTimeout(this.timeoutHandle),this.timeoutHandle=setTimeout(this.setPoseFromClient.bind(this,a),250))},ROS3D.InteractiveMarkerHandle.prototype.onButtonClick=function(a){this.sendFeedback(ROS3D.INTERACTIVE_MARKER_BUTTON_CLICK,a.clickPosition,0,a.controlName)},ROS3D.InteractiveMarkerHandle.prototype.onMouseDown=function(a){this.sendFeedback(ROS3D.INTERACTIVE_MARKER_MOUSE_DOWN,a.clickPosition,0,a.controlName),this.dragging=!0},ROS3D.InteractiveMarkerHandle.prototype.onMouseUp=function(a){this.sendFeedback(ROS3D.INTERACTIVE_MARKER_MOUSE_UP,a.clickPosition,0,a.controlName),this.dragging=!1,this.timeoutHandle&&clearTimeout(this.timeoutHandle)},ROS3D.InteractiveMarkerHandle.prototype.onMenuSelect=function(a){this.sendFeedback(ROS3D.INTERACTIVE_MARKER_MENU_SELECT,void 0,a.id,a.controlName)},ROS3D.InteractiveMarkerHandle.prototype.sendFeedback=function(a,b,c,d){var e=void 0!==b;b=b||{x:0,y:0,z:0};var f={header:this.header,client_id:this.clientID,marker_name:this.name,control_name:d,event_type:a,pose:this.pose,mouse_point:b,mouse_point_valid:e,menu_entry_id:c};this.feedbackTopic.publish(f)},ROS3D.InteractiveMarkerMenu=function(a){function b(a,b){this.dispatchEvent({type:"menu-select",domEvent:b,id:a.id,controlName:this.controlName}),this.hide(b)}function c(a,e){var f=document.createElement("ul");a.appendChild(f);for(var g=e.children,h=0;h<g.length;h++){var i=document.createElement("li"),j=document.createElement("div");j.appendChild(document.createTextNode(g[h].title)),f.appendChild(i),i.appendChild(j),g[h].children.length>0?(c(i,g[h]),j.addEventListener("click",d.hide.bind(d)),j.addEventListener("touchstart",d.hide.bind(d))):(j.addEventListener("click",b.bind(d,g[h])),j.addEventListener("touchstart",b.bind(d,g[h])),j.className="default-interactive-marker-menu-entry")}}var d=this;a=a||{};var e=a.menuEntries,f=a.className||"default-interactive-marker-menu",g=(a.entryClassName,a.overlayClassName||"default-interactive-marker-overlay"),h=a.menuFontSize||"0.8em",i=[];if(i[0]={children:[]},THREE.EventDispatcher.call(this),null===document.getElementById("default-interactive-marker-menu-css")){var j=document.createElement("style");j.id="default-interactive-marker-menu-css",j.type="text/css",j.innerHTML=".default-interactive-marker-menu {background-color: #444444;border: 1px solid #888888;border: 1px solid #888888;padding: 0px 0px 0px 0px;color: #FFFFFF;font-family: sans-serif;font-size: "+h+";z-index: 1002;}.default-interactive-marker-menu ul {padding: 0px 0px 5px 0px;margin: 0px;list-style-type: none;}.default-interactive-marker-menu ul li div {-webkit-touch-callout: none;-webkit-user-select: none;-khtml-user-select: none;-moz-user-select: none;-ms-user-select: none;user-select: none;cursor: default;padding: 3px 10px 3px 10px;}.default-interactive-marker-menu-entry:hover {  background-color: #666666;  cursor: pointer;}.default-interactive-marker-menu ul ul {  font-style: italic;  padding-left: 10px;}.default-interactive-marker-overlay {  position: absolute;  top: 0%;  left: 0%;  width: 100%;  height: 100%;  background-color: black;  z-index: 1001;  -moz-opacity: 0.0;  opacity: .0;  filter: alpha(opacity = 0);}",document.getElementsByTagName("head")[0].appendChild(j)}this.menuDomElem=document.createElement("div"),this.menuDomElem.style.position="absolute",this.menuDomElem.className=f,this.menuDomElem.addEventListener("contextmenu",function(a){a.preventDefault()}),this.overlayDomElem=document.createElement("div"),this.overlayDomElem.className=g,this.hideListener=this.hide.bind(this),this.overlayDomElem.addEventListener("contextmenu",this.hideListener),this.overlayDomElem.addEventListener("click",this.hideListener),this.overlayDomElem.addEventListener("touchstart",this.hideListener);var k,l,m;for(k=0;k<e.length;k++)l=e[k],m=l.id,i[m]={title:l.title,id:m,children:[]};for(k=0;k<e.length;k++){l=e[k],m=l.id;var n=i[m];i[l.parent_id].children.push(n)}c(this.menuDomElem,i[0])},ROS3D.InteractiveMarkerMenu.prototype.show=function(a,b){b&&b.preventDefault&&b.preventDefault(),this.controlName=a.name,void 0!==b.domEvent.changedTouches?(this.menuDomElem.style.left=b.domEvent.changedTouches[0].pageX+"px",this.menuDomElem.style.top=b.domEvent.changedTouches[0].pageY+"px"):(this.menuDomElem.style.left=b.domEvent.clientX+"px",this.menuDomElem.style.top=b.domEvent.clientY+"px"),document.body.appendChild(this.overlayDomElem),document.body.appendChild(this.menuDomElem)},ROS3D.InteractiveMarkerMenu.prototype.hide=function(a){a&&a.preventDefault&&a.preventDefault(),document.body.removeChild(this.overlayDomElem),document.body.removeChild(this.menuDomElem)},Object.assign(ROS3D.InteractiveMarkerMenu.prototype,THREE.EventDispatcher.prototype),ROS3D.Marker=function(a){a=a||{};var b=a.path||"/",c=a.message;"/"!==b.substr(b.length-1)&&(b+="/"),THREE.Object3D.call(this),c.scale?this.msgScale=[c.scale.x,c.scale.y,c.scale.z]:this.msgScale=[1,1,1],this.msgColor=c.color,this.msgMesh=void 0,this.setPose(c.pose);var d=ROS3D.makeColorMaterial(this.msgColor.r,this.msgColor.g,this.msgColor.b,this.msgColor.a);switch(c.type){case ROS3D.MARKER_ARROW:var e,f=c.scale.x,g=.23*f,h=c.scale.y,i=.5*h,j=null;if(2===c.points.length){j=new THREE.Vector3(c.points[0].x,c.points[0].y,c.points[0].z);var k=new THREE.Vector3(c.points[1].x,c.points[1].y,c.points[1].z);e=j.clone().negate().add(k),f=e.length(),h=c.scale.y,i=c.scale.x,0!==c.scale.z&&(g=c.scale.z)}this.add(new ROS3D.Arrow({direction:e,origin:j,length:f,headLength:g,shaftDiameter:i,headDiameter:h,material:d}));break;case ROS3D.MARKER_CUBE:var l=new THREE.BoxGeometry(c.scale.x,c.scale.y,c.scale.z);this.add(new THREE.Mesh(l,d));break;case ROS3D.MARKER_SPHERE:var m=new THREE.SphereGeometry(.5),n=new THREE.Mesh(m,d);n.scale.x=c.scale.x,n.scale.y=c.scale.y,n.scale.z=c.scale.z,this.add(n);break;case ROS3D.MARKER_CYLINDER:var o=new THREE.CylinderGeometry(.5,.5,1,16,1,!1),p=new THREE.Mesh(o,d);p.quaternion.setFromAxisAngle(new THREE.Vector3(1,0,0),.5*Math.PI),p.scale.set(c.scale.x,c.scale.z,c.scale.y),this.add(p);break;case ROS3D.MARKER_LINE_STRIP:var q,r=new THREE.Geometry,s=new THREE.LineBasicMaterial({size:c.scale.x});for(q=0;q<c.points.length;q++){var t=new THREE.Vector3;t.x=c.points[q].x,t.y=c.points[q].y,t.z=c.points[q].z,r.vertices.push(t)}if(c.colors.length===c.points.length)for(s.vertexColors=!0,q=0;q<c.points.length;q++){var u=new THREE.Color;u.setRGB(c.colors[q].r,c.colors[q].g,c.colors[q].b),r.colors.push(u)}else s.color.setRGB(c.color.r,c.color.g,c.color.b);this.add(new THREE.Line(r,s));break;case ROS3D.MARKER_LINE_LIST:var v,w=new THREE.Geometry,x=new THREE.LineBasicMaterial({size:c.scale.x});for(v=0;v<c.points.length;v++){var y=new THREE.Vector3;y.x=c.points[v].x,y.y=c.points[v].y,y.z=c.points[v].z,w.vertices.push(y)}if(c.colors.length===c.points.length)for(x.vertexColors=!0,v=0;v<c.points.length;v++){var z=new THREE.Color;z.setRGB(c.colors[v].r,c.colors[v].g,c.colors[v].b),w.colors.push(z)}else x.color.setRGB(c.color.r,c.color.g,c.color.b);this.add(new THREE.Line(w,x,THREE.LinePieces));break;case ROS3D.MARKER_CUBE_LIST:var A,B,C,D,E=new THREE.Object3D,F=c.points.length,G=F===c.colors.length,H=Math.ceil(F/1250);for(A=0;A<F;A+=H)B=new THREE.BoxGeometry(c.scale.x,c.scale.y,c.scale.z),C=G?ROS3D.makeColorMaterial(c.colors[A].r,c.colors[A].g,c.colors[A].b,c.colors[A].a):d,D=new THREE.Mesh(B,C),D.position.x=c.points[A].x,D.position.y=c.points[A].y,D.position.z=c.points[A].z,E.add(D);this.add(E);break;case ROS3D.MARKER_SPHERE_LIST:var I,J,K,L,M=new THREE.Object3D,N=c.points.length,O=N===c.colors.length,P=Math.ceil(N/1250);for(I=0;I<N;I+=P)J=new THREE.SphereGeometry(.5,8,8),K=O?ROS3D.makeColorMaterial(c.colors[I].r,c.colors[I].g,c.colors[I].b,c.colors[I].a):d,L=new THREE.Mesh(J,K),L.scale.x=c.scale.x,L.scale.y=c.scale.y,L.scale.z=c.scale.z,L.position.x=c.points[I].x,L.position.y=c.points[I].y,L.position.z=c.points[I].z,M.add(L);this.add(M);break;case ROS3D.MARKER_POINTS:var Q,R=new THREE.Geometry,S=new THREE.ParticleBasicMaterial({size:c.scale.x});for(Q=0;Q<c.points.length;Q++){var T=new THREE.Vector3;T.x=c.points[Q].x,T.y=c.points[Q].y,T.z=c.points[Q].z,R.vertices.push(T)}if(c.colors.length===c.points.length)for(S.vertexColors=!0,Q=0;Q<c.points.length;Q++){var U=new THREE.Color;U.setRGB(c.colors[Q].r,c.colors[Q].g,c.colors[Q].b),R.colors.push(U)}else S.color.setRGB(c.color.r,c.color.g,c.color.b);this.add(new THREE.ParticleSystem(R,S));break;case ROS3D.MARKER_TEXT_VIEW_FACING:if(c.text.length>0){var V=this.msgColor,W=document.createElement("canvas"),X=W.getContext("2d")
-;X.font="normal 100px sans-serif";var Y=X.measureText(c.text),Z=Y.width;W.width=Z,W.height=150,X.font="normal 100px sans-serif",X.fillStyle="rgba("+Math.round(255*V.r)+", "+Math.round(255*V.g)+", "+Math.round(255*V.b)+", "+V.a+")",X.textAlign="left",X.textBaseline="middle",X.fillText(c.text,0,W.height/2);var $=new THREE.Texture(W);$.needsUpdate=!0;var _=new THREE.SpriteMaterial({map:$,useScreenCoordinates:!1}),aa=new THREE.Sprite(_),ba=c.scale.x;aa.scale.set(Z/W.height*ba,ba,1),this.add(aa)}break;case ROS3D.MARKER_MESH_RESOURCE:var ca=null;0===c.color.r&&0===c.color.g&&0===c.color.b&&0===c.color.a||(ca=d),this.msgMesh=c.mesh_resource.substr(10);var da=new ROS3D.MeshResource({path:b,resource:this.msgMesh,material:ca});this.add(da);break;case ROS3D.MARKER_TRIANGLE_LIST:var ea=new ROS3D.TriangleList({material:d,vertices:c.points,colors:c.colors});ea.scale.set(c.scale.x,c.scale.y,c.scale.z),this.add(ea);break;default:console.error("Currently unsupported marker type: "+c.type)}},ROS3D.Marker.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Marker.prototype.setPose=function(a){this.position.x=a.position.x,this.position.y=a.position.y,this.position.z=a.position.z,this.quaternion.set(a.orientation.x,a.orientation.y,a.orientation.z,a.orientation.w),this.quaternion.normalize(),this.updateMatrixWorld()},ROS3D.Marker.prototype.update=function(a){if(this.setPose(a.pose),a.color.r!==this.msgColor.r||a.color.g!==this.msgColor.g||a.color.b!==this.msgColor.b||a.color.a!==this.msgColor.a){var b=ROS3D.makeColorMaterial(a.color.r,a.color.g,a.color.b,a.color.a);switch(a.type){case ROS3D.MARKER_LINE_STRIP:case ROS3D.MARKER_LINE_LIST:case ROS3D.MARKER_POINTS:break;case ROS3D.MARKER_ARROW:case ROS3D.MARKER_CUBE:case ROS3D.MARKER_SPHERE:case ROS3D.MARKER_CYLINDER:case ROS3D.MARKER_TRIANGLE_LIST:case ROS3D.MARKER_TEXT_VIEW_FACING:this.traverse(function(a){a instanceof THREE.Mesh&&(a.material=b)});break;case ROS3D.MARKER_MESH_RESOURCE:var c=null;0===a.color.r&&0===a.color.g&&0===a.color.b&&0===a.color.a||(c=this.colorMaterial),this.traverse(function(a){a instanceof THREE.Mesh&&(a.material=c)});break;case ROS3D.MARKER_CUBE_LIST:case ROS3D.MARKER_SPHERE_LIST:default:return!1}this.msgColor=a.color}var d=Math.abs(this.msgScale[0]-a.scale.x)>1e-6||Math.abs(this.msgScale[1]-a.scale.y)>1e-6||Math.abs(this.msgScale[2]-a.scale.z)>1e-6;switch(this.msgScale=[a.scale.x,a.scale.y,a.scale.z],a.type){case ROS3D.MARKER_CUBE:case ROS3D.MARKER_SPHERE:case ROS3D.MARKER_CYLINDER:if(d)return!1;break;case ROS3D.MARKER_TEXT_VIEW_FACING:if(d||this.text!==a.text)return!1;break;case ROS3D.MARKER_MESH_RESOURCE:if(a.mesh_resource.substr(10)!==this.msgMesh)return!1;if(d)return!1;break;case ROS3D.MARKER_ARROW:case ROS3D.MARKER_LINE_STRIP:case ROS3D.MARKER_LINE_LIST:case ROS3D.MARKER_CUBE_LIST:case ROS3D.MARKER_SPHERE_LIST:case ROS3D.MARKER_POINTS:case ROS3D.MARKER_TRIANGLE_LIST:return!1}return!0},ROS3D.Marker.prototype.dispose=function(){this.children.forEach(function(a){a instanceof ROS3D.MeshResource?a.children.forEach(function(b){void 0!==b.material&&b.material.dispose(),b.children.forEach(function(a){void 0!==a.geometry&&a.geometry.dispose(),void 0!==a.material&&a.material.dispose(),b.remove(a)}),a.remove(b)}):(void 0!==a.geometry&&a.geometry.dispose(),void 0!==a.material&&a.material.dispose()),a.parent.remove(a)})},ROS3D.MarkerArrayClient=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic,this.tfClient=a.tfClient,this.rootObject=a.rootObject||new THREE.Object3D,this.path=a.path||"/",this.markers={},this.rosTopic=void 0,this.subscribe()},ROS3D.MarkerArrayClient.prototype.__proto__=EventEmitter2.prototype,ROS3D.MarkerArrayClient.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"visualization_msgs/MarkerArray",compression:"png"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.MarkerArrayClient.prototype.processMessage=function(a){a.markers.forEach(function(a){if(0===a.action){var b=!1;if(a.ns+a.id in this.markers&&((b=this.markers[a.ns+a.id].children[0].update(a))||(this.markers[a.ns+a.id].unsubscribeTf(),this.rootObject.remove(this.markers[a.ns+a.id]))),!b){var c=new ROS3D.Marker({message:a,path:this.path});this.markers[a.ns+a.id]=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:c}),this.rootObject.add(this.markers[a.ns+a.id])}}else if(1===a.action)console.warn('Received marker message with deprecated action identifier "1"');else if(2===a.action)this.markers[a.ns+a.id].unsubscribeTf(),this.rootObject.remove(this.markers[a.ns+a.id]),delete this.markers[a.ns+a.id];else if(3===a.action){for(var d in this.markers)this.markers[d].unsubscribeTf(),this.rootObject.remove(this.markers[d]);this.markers={}}else console.warn('Received marker message with unknown action identifier "'+a.action+'"')}.bind(this)),this.emit("change")},ROS3D.MarkerArrayClient.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.MarkerClient=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic,this.tfClient=a.tfClient,this.rootObject=a.rootObject||new THREE.Object3D,this.path=a.path||"/",this.markers={},this.rosTopic=void 0,this.subscribe()},ROS3D.MarkerClient.prototype.__proto__=EventEmitter2.prototype,ROS3D.MarkerClient.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.MarkerClient.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"visualization_msgs/Marker",compression:"png"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.MarkerClient.prototype.processMessage=function(a){var b=new ROS3D.Marker({message:a,path:this.path}),c=this.markers[a.ns+a.id];c&&(c.unsubscribeTf(),this.rootObject.remove(c)),this.markers[a.ns+a.id]=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:b}),this.rootObject.add(this.markers[a.ns+a.id]),this.emit("change")},ROS3D.Arrow=function(a){a=a||{};var b=a.origin||new THREE.Vector3(0,0,0),c=a.direction||new THREE.Vector3(1,0,0),d=a.length||1,e=a.headLength||.2,f=a.shaftDiameter||.05,g=a.headDiameter||.1,h=a.material||new THREE.MeshBasicMaterial,i=d-e,j=new THREE.CylinderGeometry(.5*f,.5*f,i,12,1),k=new THREE.Matrix4;k.setPosition(new THREE.Vector3(0,.5*i,0)),j.applyMatrix(k);var l=new THREE.CylinderGeometry(0,.5*g,e,12,1);k.setPosition(new THREE.Vector3(0,i+.5*e,0)),l.applyMatrix(k),j.merge(l),THREE.Mesh.call(this,j,h),this.position.copy(b),this.setDirection(c)},ROS3D.Arrow.prototype.__proto__=THREE.Mesh.prototype,ROS3D.Arrow.prototype.setDirection=function(a){var b=new THREE.Vector3(0,1,0).cross(a),c=Math.acos(new THREE.Vector3(0,1,0).dot(a.clone().normalize()));this.matrix=(new THREE.Matrix4).makeRotationAxis(b.normalize(),c),this.rotation.setFromRotationMatrix(this.matrix,this.rotation.order)},ROS3D.Arrow.prototype.setLength=function(a){this.scale.set(a,a,a)},ROS3D.Arrow.prototype.setColor=function(a){this.material.color.setHex(a)},ROS3D.Arrow.prototype.dispose=function(){void 0!==this.geometry&&this.geometry.dispose(),void 0!==this.material&&this.material.dispose()},ROS3D.Arrow2=function(a){a=a||{};var b=a.origin||new THREE.Vector3(0,0,0),c=a.direction||new THREE.Vector3(1,0,0),d=a.length||1;a.headLength,a.shaftDiameter,a.headDiameter,a.material||new THREE.MeshBasicMaterial;THREE.ArrowHelper.call(this,c,b,d,16711680)},ROS3D.Arrow2.prototype.__proto__=THREE.ArrowHelper.prototype,ROS3D.Arrow2.prototype.dispose=function(){void 0!==this.line&&(this.line.material.dispose(),this.line.geometry.dispose()),void 0!==this.cone&&(this.cone.material.dispose(),this.cone.geometry.dispose())},ROS3D.Axes=function(a){function b(a){var b=new THREE.Color;b.setRGB(a.x,a.y,a.z);var d=new THREE.MeshBasicMaterial({color:b.getHex()}),e=new THREE.Vector3;e.crossVectors(a,new THREE.Vector3(0,-1,0));var f=new THREE.Quaternion;f.setFromAxisAngle(e,.5*Math.PI);var g=new THREE.Mesh(c.headGeom,d);g.position.copy(a),g.position.multiplyScalar(.95),g.quaternion.copy(f),g.updateMatrix(),c.add(g);var h=new THREE.Mesh(c.lineGeom,d);h.position.copy(a),h.position.multiplyScalar(.45),h.quaternion.copy(f),h.updateMatrix(),c.add(h)}var c=this;a=a||{};var d=a.shaftRadius||.008,e=a.headRadius||.023,f=a.headLength||.1;THREE.Object3D.call(this),this.lineGeom=new THREE.CylinderGeometry(d,d,1-f),this.headGeom=new THREE.CylinderGeometry(0,e,f),b(new THREE.Vector3(1,0,0)),b(new THREE.Vector3(0,1,0)),b(new THREE.Vector3(0,0,1))},ROS3D.Axes.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Grid=function(a){a=a||{};var b=a.num_cells||10,c=a.color||"#cccccc",d=a.lineWidth||1,e=a.cellSize||1;THREE.Object3D.call(this);for(var f=new THREE.LineBasicMaterial({color:c,linewidth:d}),g=0;g<=b;++g){var h=e*b/2,i=h-g*e,j=new THREE.Geometry;j.vertices.push(new THREE.Vector3(-h,i,0),new THREE.Vector3(h,i,0));var k=new THREE.Geometry;k.vertices.push(new THREE.Vector3(i,-h,0),new THREE.Vector3(i,h,0)),this.add(new THREE.Line(j,f)),this.add(new THREE.Line(k,f))}},ROS3D.Grid.prototype.__proto__=THREE.Object3D.prototype,ROS3D.MeshResource=function(a){var b=this;a=a||{};var c=a.path||"/",d=a.resource,e=a.material||null;this.warnings=a.warnings,THREE.Object3D.call(this),"/"!==c.substr(c.length-1)&&(c+="/");var f,g=c+d,h=g.substr(-4).toLowerCase();".dae"===h?(f=new THREE.ColladaLoader,f.log=function(a){b.warnings&&console.warn(a)},f.load(g,function(a){null!==e&&a.scene.traverse(function(a){a instanceof THREE.Mesh&&void 0===a.material&&(a.material=e)}),b.add(a.scene)})):".stl"===h&&(f=new THREE.STLLoader,f.load(g,function(a){a.computeFaceNormals();var c;c=null!==e?new THREE.Mesh(a,e):new THREE.Mesh(a,new THREE.MeshBasicMaterial({color:10066329})),b.add(c)}))},ROS3D.MeshResource.prototype.__proto__=THREE.Object3D.prototype,ROS3D.TriangleList=function(a){a=a||{};var b=a.material||new THREE.MeshBasicMaterial,c=a.vertices,d=a.colors;THREE.Object3D.call(this),b.side=THREE.DoubleSide;var e=new THREE.Geometry;for(f=0;f<c.length;f++)e.vertices.push(new THREE.Vector3(c[f].x,c[f].y,c[f].z));var f,g;if(d.length===c.length){for(f=0;f<c.length;f+=3){var h=new THREE.Face3(f,f+1,f+2);for(g=3*f;g<3*f+3;f++){var i=new THREE.Color;i.setRGB(d[f].r,d[f].g,d[f].b),h.vertexColors.push(i)}e.faces.push(h)}b.vertexColors=THREE.VertexColors}else if(d.length===c.length/3){for(f=0;f<c.length;f+=3){var j=new THREE.Face3(f,f+1,f+2);j.color.setRGB(d[f/3].r,d[f/3].g,d[f/3].b),e.faces.push(j)}b.vertexColors=THREE.FaceColors}else for(f=0;f<c.length;f+=3){var k=new THREE.Face3(f,f+1,f+2);e.faces.push(k)}e.computeBoundingBox(),e.computeBoundingSphere(),e.computeFaceNormals(),this.add(new THREE.Mesh(e,b))},ROS3D.TriangleList.prototype.__proto__=THREE.Object3D.prototype,ROS3D.TriangleList.prototype.setColor=function(a){this.mesh.material.color.setHex(a)},ROS3D.OccupancyGrid=function(a){a=a||{};var b=a.message,c=a.color||{r:255,g:255,b:255},d=a.opacity||1,e=b.info.width,f=b.info.height,g=new THREE.PlaneGeometry(e,f),h=document.createElement("canvas");h.width=e,h.height=f;for(var i=h.getContext("2d"),j=i.createImageData(e,f),k=0;k<f;k++)for(var l=0;l<e;l++){var m,n=l+(f-k-1)*e,o=b.data[n];m=100===o?0:0===o?255:127;var p=4*(l+k*e);j.data[p]=m*c.r/255,j.data[++p]=m*c.g/255,j.data[++p]=m*c.b/255,j.data[++p]=255}i.putImageData(j,0,0);var q=new THREE.Texture(h);q.needsUpdate=!0;var r=new THREE.MeshBasicMaterial({map:q,transparent:d<1,opacity:d});r.side=THREE.DoubleSide,THREE.Mesh.call(this,g,r),this.quaternion=new THREE.Quaternion(b.info.origin.orientation.x,b.info.origin.orientation.y,b.info.origin.orientation.z,b.info.origin.orientation.w),this.position.x=e*b.info.resolution/2+b.info.origin.position.x,this.position.y=f*b.info.resolution/2+b.info.origin.position.y,this.position.z=b.info.origin.position.z,this.scale.x=b.info.resolution,this.scale.y=b.info.resolution},ROS3D.OccupancyGrid.prototype.__proto__=THREE.Mesh.prototype,ROS3D.OccupancyGridClient=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic||"/map",this.continuous=a.continuous,this.tfClient=a.tfClient,this.rootObject=a.rootObject||new THREE.Object3D,this.offsetPose=a.offsetPose||new ROSLIB.Pose,this.color=a.color||{r:255,g:255,b:255},this.opacity=a.opacity||1,this.currentGrid=null,this.rosTopic=void 0,this.subscribe()},ROS3D.OccupancyGridClient.prototype.__proto__=EventEmitter2.prototype,ROS3D.OccupancyGridClient.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.OccupancyGridClient.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"nav_msgs/OccupancyGrid",compression:"png"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.OccupancyGridClient.prototype.processMessage=function(a){this.currentGrid&&(this.currentGrid.tfClient&&this.currentGrid.unsubscribeTf(),this.rootObject.remove(this.currentGrid));var b=new ROS3D.OccupancyGrid({message:a,color:this.color,opacity:this.opacity});this.tfClient?(this.currentGrid=b,this.sceneNode=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:b,pose:this.offsetPose})):this.sceneNode=this.currentGrid=b,this.rootObject.add(this.sceneNode),this.emit("change"),this.continuous||this.rosTopic.unsubscribe()},ROS3D.Odometry=function(a){this.options=a||{},this.ros=a.ros,this.topicName=a.topic||"/particlecloud",this.tfClient=a.tfClient,this.color=a.color||13369599,this.length=a.length||1,this.rootObject=a.rootObject||new THREE.Object3D,this.keep=a.keep||1,THREE.Object3D.call(this),this.sns=[],this.rosTopic=void 0,this.subscribe()},ROS3D.Odometry.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Odometry.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.Odometry.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"nav_msgs/Odometry"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.Odometry.prototype.processMessage=function(a){this.sns.length>=this.keep&&(this.sns[0].unsubscribeTf(),this.rootObject.remove(this.sns[0]),this.sns.shift()),this.options.origin=new THREE.Vector3(a.pose.pose.position.x,a.pose.pose.position.y,a.pose.pose.position.z);var b=new THREE.Quaternion(a.pose.pose.orientation.x,a.pose.pose.orientation.y,a.pose.pose.orientation.z,a.pose.pose.orientation.w);this.options.direction=new THREE.Vector3(1,0,0),this.options.direction.applyQuaternion(b),this.options.material=new THREE.MeshBasicMaterial({color:this.color});var c=new ROS3D.Arrow(this.options);this.sns.push(new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:c})),this.rootObject.add(this.sns[this.sns.length-1])},ROS3D.Path=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic||"/path",this.tfClient=a.tfClient,this.color=a.color||13369599,this.rootObject=a.rootObject||new THREE.Object3D,THREE.Object3D.call(this),this.sn=null,this.line=null,this.rosTopic=void 0,this.subscribe()},ROS3D.Path.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Path.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.Path.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"nav_msgs/Path"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.Path.prototype.processMessage=function(a){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var b=new THREE.Geometry,c=0;c<a.poses.length;c++){var d=new THREE.Vector3(a.poses[c].pose.position.x,a.poses[c].pose.position.y,a.poses[c].pose.position.z);b.vertices.push(d)}b.computeLineDistances();var e=new THREE.LineBasicMaterial({color:this.color}),f=new THREE.Line(b,e);this.sn=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:f}),this.rootObject.add(this.sn)},ROS3D.Point=function(a){this.options=a||{},this.ros=a.ros,this.topicName=a.topic||"/point",this.tfClient=a.tfClient,this.color=a.color||13369599,this.rootObject=a.rootObject||new THREE.Object3D,this.radius=a.radius||.2,THREE.Object3D.call(this),this.sn=null,this.rosTopic=void 0,this.subscribe()},ROS3D.Point.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Point.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.Point.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"geometry_msgs/PointStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.Point.prototype.processMessage=function(a){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));var b=new THREE.SphereGeometry(this.radius),c=new THREE.MeshBasicMaterial({color:this.color}),d=new THREE.Mesh(b,c);d.position.set(a.point.x,a.point.y,a.point.z),this.sn=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:d}),this.rootObject.add(this.sn)},ROS3D.Polygon=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic||"/path",this.tfClient=a.tfClient,this.color=a.color||13369599,this.rootObject=a.rootObject||new THREE.Object3D,THREE.Object3D.call(this),this.sn=null,this.line=null,this.rosTopic=void 0,this.subscribe()},ROS3D.Polygon.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Polygon.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.Polygon.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"geometry_msgs/PolygonStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.Polygon.prototype.processMessage=function(a){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var b,c=new THREE.Geometry,d=0;d<a.polygon.points.length;d++)b=new THREE.Vector3(a.polygon.points[d].x,a.polygon.points[d].y,a.polygon.points[d].z),c.vertices.push(b);b=new THREE.Vector3(a.polygon.points[0].x,a.polygon.points[0].y,a.polygon.points[0].z),c.vertices.push(b),c.computeLineDistances();var e=new THREE.LineBasicMaterial({color:this.color}),f=new THREE.Line(c,e);this.sn=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:f}),this.rootObject.add(this.sn)},ROS3D.Pose=function(a){this.options=a||{},this.ros=a.ros,this.topicName=a.topic||"/pose",this.tfClient=a.tfClient,this.color=a.color||13369599,this.rootObject=a.rootObject||new THREE.Object3D,THREE.Object3D.call(this),this.sn=null,this.rosTopic=void 0,this.subscribe()},ROS3D.Pose.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Pose.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.Pose.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"geometry_msgs/PoseStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.Pose.prototype.processMessage=function(a){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn)),this.options.origin=new THREE.Vector3(a.pose.position.x,a.pose.position.y,a.pose.position.z);var b=new THREE.Quaternion(a.pose.orientation.x,a.pose.orientation.y,a.pose.orientation.z,a.pose.orientation.w);this.options.direction=new THREE.Vector3(1,0,0),this.options.direction.applyQuaternion(b),this.options.material=new THREE.MeshBasicMaterial({color:this.color});var c=new ROS3D.Arrow(this.options);this.sn=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:c}),this.rootObject.add(this.sn)},ROS3D.PoseArray=function(a){this.options=a||{},this.ros=a.ros,this.topicName=a.topic||"/particlecloud",this.tfClient=a.tfClient,this.color=a.color||13369599,this.length=a.length||1,this.rootObject=a.rootObject||new THREE.Object3D,THREE.Object3D.call(this),this.sn=null,this.rosTopic=void 0,this.subscribe()},ROS3D.PoseArray.prototype.__proto__=THREE.Object3D.prototype,ROS3D.PoseArray.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.PoseArray.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"geometry_msgs/PoseArray"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.PoseArray.prototype.processMessage=function(a){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var b,c=new THREE.Object3D,d=0;d<a.poses.length;d++){var e=new THREE.Geometry,f=new THREE.Vector3(a.poses[d].position.x,a.poses[d].position.y,a.poses[d].position.z);e.vertices.push(f);var g=new THREE.Quaternion(a.poses[d].orientation.x,a.poses[d].orientation.y,a.poses[d].orientation.z,a.poses[d].orientation.w),h=new THREE.Vector3(this.length,0,0),i=new THREE.Vector3(.8*this.length,.2*this.length,0),j=new THREE.Vector3(.8*this.length,.2*-this.length,0);h.applyQuaternion(g),i.applyQuaternion(g),j.applyQuaternion(g),e.vertices.push(h.add(f)),e.vertices.push(i.add(f)),e.vertices.push(j.add(f)),e.vertices.push(h),e.computeLineDistances();var k=new THREE.LineBasicMaterial({color:this.color});b=new THREE.Line(e,k),c.add(b)}this.sn=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:c}),this.rootObject.add(this.sn)},ROS3D.PoseWithCovariance=function(a){this.options=a||{},this.ros=a.ros,this.topicName=a.topic||"/PoseWithCovariance",this.tfClient=a.tfClient,this.color=a.color||13369599,this.rootObject=a.rootObject||new THREE.Object3D,THREE.Object3D.call(this),this.sn=null,this.rosTopic=void 0,this.subscribe()},ROS3D.PoseWithCovariance.prototype.__proto__=THREE.Object3D.prototype,ROS3D.PoseWithCovariance.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.PoseWithCovariance.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"geometry_msgs/PoseWithCovarianceStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.PoseWithCovariance.prototype.processMessage=function(a){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn)),this.options.origin=new THREE.Vector3(a.pose.pose.position.x,a.pose.pose.position.y,a.pose.pose.position.z);var b=new THREE.Quaternion(a.pose.pose.orientation.x,a.pose.pose.orientation.y,a.pose.pose.orientation.z,a.pose.pose.orientation.w);this.options.direction=new THREE.Vector3(1,0,0),this.options.direction.applyQuaternion(b),this.options.material=new THREE.MeshBasicMaterial({color:this.color});var c=new ROS3D.Arrow(this.options);this.sn=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:c}),this.rootObject.add(this.sn)},ROS3D.LaserScan=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic||"/scan",this.color=a.color||16753920,this.particles=new ROS3D.Particles(a),this.rosTopic=void 0,this.subscribe()},ROS3D.LaserScan.prototype.__proto__=THREE.Object3D.prototype,ROS3D.LaserScan.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.LaserScan.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"sensor_msgs/LaserScan"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.LaserScan.prototype.processMessage=function(a){setFrame(this.particles,a.header.frame_id);for(var b=a.ranges.length,c=0;c<b;c++){var d=a.ranges[c];if(d<a.range_min||d>a.range_max)this.particles.alpha[c]=0;else{var e=a.angle_min+c*a.angle_increment;this.particles.points[c]=new THREE.Vector3(d*Math.cos(e),d*Math.sin(e),0),this.particles.alpha[c]=1}this.particles.colors[c]=new THREE.Color(this.color)}finishedUpdate(this.particles,b)},ROS3D.Particles=function(a){a=a||{},this.tfClient=a.tfClient;var b=a.texture||"https://upload.wikimedia.org/wikipedia/commons/a/a2/Pixel-white.png",c=a.size||.05;this.max_pts=a.max_pts||1e4,this.first_size=null,this.prev_pts=0,this.rootObject=a.rootObject||new THREE.Object3D;THREE.Object3D.call(this),this.vertex_shader=["attribute vec3 customColor;","attribute float alpha;","varying vec3 vColor;","varying float falpha;","void main() ","{","    vColor = customColor; // set color associated to vertex; use later in fragment shader","    vec4 mvPosition = modelViewMatrix * vec4( position, 1.0 );","    falpha = alpha; ","","    // option (1): draw particles at constant size on screen","    // gl_PointSize = size;","    // option (2): scale particles as objects in 3D space","    gl_PointSize = ",c,"* ( 300.0 / length( mvPosition.xyz ) );","    gl_Position = projectionMatrix * mvPosition;","}"].join("\n"),this.fragment_shader=["uniform sampler2D texture;","varying vec3 vColor; // colors associated to vertices; assigned by vertex shader","varying float falpha;","void main() ","{","    // THREE.Material.alphaTest is not evaluated for ShaderMaterial, so we","    // have to take care of this ourselves.","    if (falpha < 0.5) discard;","    // calculates a color for the particle","    gl_FragColor = vec4( vColor, falpha );","    // sets particle texture to desired color","    gl_FragColor = gl_FragColor * texture2D( texture, gl_PointCoord );","}"].join("\n"),this.geom=new THREE.Geometry;for(var d=0;d<this.max_pts;d++)this.geom.vertices.push(new THREE.Vector3);var e={texture:{type:"t",value:THREE.ImageUtils.loadTexture(b)}};this.attribs={customColor:{type:"c",value:[]},alpha:{type:"f",value:[]}},this.shaderMaterial=new THREE.ShaderMaterial({uniforms:e,attributes:this.attribs,vertexShader:this.vertex_shader,fragmentShader:this.fragment_shader,transparent:!0}),this.ps=new THREE.ParticleSystem(this.geom,this.shaderMaterial),this.sn=null,this.points=this.geom.vertices,this.colors=this.attribs.customColor.value,this.alpha=this.attribs.alpha.value};var BASE64="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/=";ROS3D.PointCloud2=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic||"/points",this.color=a.color,this.particles=new ROS3D.Particles(a),this.rosTopic=void 0,this.subscribe()},ROS3D.PointCloud2.prototype.__proto__=THREE.Object3D.prototype,ROS3D.PointCloud2.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.PointCloud2.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"sensor_msgs/PointCloud2"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.PointCloud2.prototype.processMessage=function(a){setFrame(this.particles,a.header.frame_id);var b,c=a.height*a.width;b=a.data.buffer?a.data.buffer.buffer:Uint8Array.from(decode64(a.data)).buffer;var d,e=new DataView(b);void 0!==this.color&&(d=new THREE.Color(this.color));for(var f=0;f<c;f++){var g=read_point(a,f,e);this.particles.points[f]=new THREE.Vector3(g.x,g.y,g.z),this.particles.colors[f]=d||new THREE.Color(g.rgb),this.particles.alpha[f]=1}finishedUpdate(this.particles,c)},ROS3D.Urdf=function(a){a=a||{};var b=a.urdfModel,c=a.path||"/",d=a.tfClient,e=a.tfPrefix||"",f=a.loader||ROS3D.COLLADA_LOADER_2;THREE.Object3D.call(this);var g=b.links;for(var h in g)for(var i=g[h],j=0;j<i.visuals.length;j++){var k=i.visuals[j];if(k&&k.geometry){var l=e+"/"+i.name,m=null;if(k.material&&k.material.color){var n=k.material&&k.material.color;m=ROS3D.makeColorMaterial(n.r,n.g,n.b,n.a)}if(k.geometry.type===ROSLIB.URDF_MESH){var o=k.geometry.filename,p=o.indexOf("package://");-1!==p&&(o=o.substr(p+"package://".length));var q=o.substr(-4).toLowerCase();if(".dae"===q||".stl"===q){var r=new ROS3D.MeshResource({path:c,resource:o,loader:f,material:m});i.visuals[j].geometry.scale&&r.scale.copy(k.geometry.scale);var s=new ROS3D.SceneNode({frameID:l,pose:k.origin,tfClient:d,object:r});this.add(s)}else console.warn("Could not load geometry mesh: "+o)}else{m||(m=ROS3D.makeColorMaterial(0,0,0,1));var t;switch(k.geometry.type){case ROSLIB.URDF_BOX:var u=k.geometry.dimension,v=new THREE.BoxGeometry(u.x,u.y,u.z);t=new THREE.Mesh(v,m);break;case ROSLIB.URDF_CYLINDER:var w=k.geometry.radius,x=k.geometry.length,y=new THREE.CylinderGeometry(w,w,x,16,1,!1);t=new THREE.Mesh(y,m),t.quaternion.setFromAxisAngle(new THREE.Vector3(1,0,0),.5*Math.PI);break;case ROSLIB.URDF_SPHERE:var z=new THREE.SphereGeometry(k.geometry.radius,16);t=new THREE.Mesh(z,m)}var A=new ROS3D.SceneNode({frameID:l,pose:k.origin,tfClient:d,object:t});this.add(A)}}}},ROS3D.Urdf.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Urdf.prototype.unsubscribeTf=function(){this.children.forEach(function(a){"function"==typeof a.unsubscribeTf&&a.unsubscribeTf()})},ROS3D.UrdfClient=function(a){var b=this;a=a||{};var c=a.ros;this.param=a.param||"robot_description",this.path=a.path||"/",this.tfClient=a.tfClient,this.rootObject=a.rootObject||new THREE.Object3D,this.tfPrefix=a.tfPrefix||"",this.loader=a.loader||ROS3D.COLLADA_LOADER_2,new ROSLIB.Param({ros:c,name:this.param}).get(function(a){var c=new ROSLIB.UrdfModel({string:a});b.urdf=new ROS3D.Urdf({urdfModel:c,path:b.path,tfClient:b.tfClient,tfPrefix:b.tfPrefix,loader:b.loader}),b.rootObject.add(b.urdf)})},ROS3D.Highlighter=function(a){a=a||{},this.mouseHandler=a.mouseHandler,this.hoverObjs={},this.mouseHandler.addEventListener("mouseover",this.onMouseOver.bind(this)),this.mouseHandler.addEventListener("mouseout",this.onMouseOut.bind(this))},ROS3D.Highlighter.prototype.onMouseOver=function(a){this.hoverObjs[a.currentTarget.uuid]=a.currentTarget},ROS3D.Highlighter.prototype.onMouseOut=function(a){var b=a.currentTarget.uuid;b in this.hoverObjs&&delete this.hoverObjs[b]},ROS3D.Highlighter.prototype.renderHighlights=function(a,b,c){this.makeEverythingInvisible(a),this.makeHighlightedVisible(a);var d=a.overrideMaterial;a.overrideMaterial=new THREE.MeshBasicMaterial({fog:!1,opacity:.5,transparent:!0,depthTest:!0,depthWrite:!1,polygonOffset:!0,polygonOffsetUnits:-1,side:THREE.DoubleSide}),b.render(a,c),a.overrideMaterial=d,this.restoreVisibility(a)},ROS3D.Highlighter.prototype.makeEverythingInvisible=function(a){a.traverse(function(a){(a instanceof THREE.Mesh||a instanceof THREE.Line||a instanceof THREE.Sprite)&&(a.previousVisibility=a.visible,a.visible=!1)})},ROS3D.Highlighter.prototype.makeHighlightedVisible=function(a){var b=function(a){(a instanceof THREE.Mesh||a instanceof THREE.Line||a instanceof THREE.Sprite)&&(a.visible=!0)};for(var c in this.hoverObjs){var d=this.hoverObjs[c];d.visible=!0,d.traverse(b)}},ROS3D.Highlighter.prototype.restoreVisibility=function(a){a.traverse(function(a){a.hasOwnProperty("previousVisibility")&&(a.visible=a.previousVisibility)}.bind(this))},ROS3D.MouseHandler=function(a){THREE.EventDispatcher.call(this),this.renderer=a.renderer,this.camera=a.camera,this.rootObject=a.rootObject,this.fallbackTarget=a.fallbackTarget,this.lastTarget=this.fallbackTarget,this.dragging=!1;var b=["contextmenu","click","dblclick","mouseout","mousedown","mouseup","mousemove","mousewheel","DOMMouseScroll","touchstart","touchend","touchcancel","touchleave","touchmove"];this.listeners={},b.forEach(function(a){this.listeners[a]=this.processDomEvent.bind(this),this.renderer.domElement.addEventListener(a,this.listeners[a],!1)},this)},ROS3D.MouseHandler.prototype.processDomEvent=function(a){a.preventDefault();var b,c,d=a.target,e=d.getBoundingClientRect();if(-1!==a.type.indexOf("touch")){b=0,c=0;for(var f=0;f<a.touches.length;++f)b+=a.touches[f].clientX,c+=a.touches[f].clientY;b/=a.touches.length,c/=a.touches.length}else b=a.clientX,c=a.clientY;var g=b-e.left-d.clientLeft+d.scrollLeft,h=c-e.top-d.clientTop+d.scrollTop,i=g/d.clientWidth*2-1,j=-h/d.clientHeight*2+1,k=new THREE.Vector3(i,j,.5);k.unproject(this.camera);var l=new THREE.Raycaster(this.camera.position.clone(),k.sub(this.camera.position).normalize());l.linePrecision=.001;var m=l.ray,n={mousePos:new THREE.Vector2(i,j),mouseRay:m,domEvent:a,camera:this.camera,intersection:this.lastIntersection};if("mouseout"===a.type)return this.dragging&&(this.notify(this.lastTarget,"mouseup",n),this.dragging=!1),this.notify(this.lastTarget,"mouseout",n),void(this.lastTarget=null);if("touchleave"===a.type||"touchend"===a.type)return this.dragging&&(this.notify(this.lastTarget,"mouseup",n),
-this.dragging=!1),this.notify(this.lastTarget,"touchend",n),void(this.lastTarget=null);if(this.dragging)return this.notify(this.lastTarget,a.type,n),void(("mouseup"===a.type&&2===a.button||"click"===a.type||"touchend"===a.type)&&(this.dragging=!1));d=this.lastTarget;var o=[];if(o=l.intersectObject(this.rootObject,!0),o.length>0?(d=o[0].object,n.intersection=this.lastIntersection=o[0]):d=this.fallbackTarget,d!==this.lastTarget&&a.type.match(/mouse/)){var p=this.notify(d,"mouseover",n);0===p?this.notify(this.lastTarget,"mouseout",n):1===p&&(d=this.fallbackTarget)!==this.lastTarget&&(this.notify(d,"mouseover",n),this.notify(this.lastTarget,"mouseout",n))}if(d!==this.lastTarget&&a.type.match(/touch/)){this.notify(d,a.type,n)?(this.notify(this.lastTarget,"touchleave",n),this.notify(this.lastTarget,"touchend",n)):(d=this.fallbackTarget)!==this.lastTarget&&(this.notify(this.lastTarget,"touchmove",n),this.notify(this.lastTarget,"touchend",n))}this.notify(d,a.type,n),"mousedown"!==a.type&&"touchstart"!==a.type&&"touchmove"!==a.type||(this.dragging=!0),this.lastTarget=d},ROS3D.MouseHandler.prototype.notify=function(a,b,c){for(c.type=b,c.cancelBubble=!1,c.continueBubble=!1,c.stopPropagation=function(){c.cancelBubble=!0},c.continuePropagation=function(){c.continueBubble=!0},c.currentTarget=a;c.currentTarget;){if(c.currentTarget.dispatchEvent&&c.currentTarget.dispatchEvent instanceof Function){if(c.currentTarget.dispatchEvent(c),c.cancelBubble)return this.dispatchEvent(c),0;if(c.continueBubble)return 2}c.currentTarget=c.currentTarget.parent}return 1},Object.assign(ROS3D.MouseHandler.prototype,THREE.EventDispatcher.prototype),ROS3D.OrbitControls=function(a){function b(a){var b=a.domEvent;switch(b.preventDefault(),b.button){case 0:A=z.ROTATE,n.set(b.clientX,b.clientY);break;case 1:A=z.MOVE,u=new THREE.Vector3(0,0,1);var c=(new THREE.Matrix4).extractRotation(this.camera.matrix);u.applyMatrix4(c),t=j.center.clone(),v=j.camera.position.clone(),w=d(a.mouseRay,t,u);break;case 2:A=z.ZOOM,q.set(b.clientX,b.clientY)}this.showAxes()}function c(a){var b=a.domEvent;if(A===z.ROTATE)o.set(b.clientX,b.clientY),p.subVectors(o,n),j.rotateLeft(2*Math.PI*p.x/l*j.userRotateSpeed),j.rotateUp(2*Math.PI*p.y/l*j.userRotateSpeed),n.copy(o),this.showAxes();else if(A===z.ZOOM)r.set(b.clientX,b.clientY),s.subVectors(r,q),s.y>0?j.zoomIn():j.zoomOut(),q.copy(r),this.showAxes();else if(A===z.MOVE){var c=d(a.mouseRay,j.center,u);if(!c)return;var e=(new THREE.Vector3).subVectors(w.clone(),c.clone());j.center.addVectors(t.clone(),e.clone()),j.camera.position.addVectors(v.clone(),e.clone()),j.update(),j.camera.updateMatrixWorld(),this.showAxes()}}function d(a,b,c){var d=new THREE.Vector3;new THREE.Vector3;d.subVectors(b,a.origin);var e=a.direction.dot(c);if(Math.abs(e)<a.precision)return null;var f=c.dot(d)/e;return a.direction.clone().multiplyScalar(f)}function e(a){j.userRotate&&(A=z.NONE)}function f(a){if(j.userZoom){var b,c=a.domEvent;b=void 0!==c.wheelDelta?c.wheelDelta:-c.detail,b>0?j.zoomIn():j.zoomOut(),this.showAxes()}}function g(a){var b=a.domEvent;switch(b.touches.length){case 1:A=z.ROTATE,n.set(b.touches[0].pageX-window.scrollX,b.touches[0].pageY-window.scrollY);break;case 2:A=z.NONE,u=new THREE.Vector3(0,0,1);var c=(new THREE.Matrix4).extractRotation(this.camera.matrix);u.applyMatrix4(c),t=j.center.clone(),v=j.camera.position.clone(),w=d(a.mouseRay,t,u),x[0]=new THREE.Vector2(b.touches[0].pageX,b.touches[0].pageY),x[1]=new THREE.Vector2(b.touches[1].pageX,b.touches[1].pageY),y[0]=new THREE.Vector2(0,0),y[1]=new THREE.Vector2(0,0)}this.showAxes(),b.preventDefault()}function h(a){var b=a.domEvent;if(A===z.ROTATE)o.set(b.touches[0].pageX-window.scrollX,b.touches[0].pageY-window.scrollY),p.subVectors(o,n),j.rotateLeft(2*Math.PI*p.x/l*j.userRotateSpeed),j.rotateUp(2*Math.PI*p.y/l*j.userRotateSpeed),n.copy(o),this.showAxes();else{if(y[0].set(x[0].x-b.touches[0].pageX,x[0].y-b.touches[0].pageY),y[1].set(x[1].x-b.touches[1].pageX,x[1].y-b.touches[1].pageY),y[0].lengthSq()>m&&y[1].lengthSq()>m&&(x[0].set(b.touches[0].pageX,b.touches[0].pageY),x[1].set(b.touches[1].pageX,b.touches[1].pageY),y[0].dot(y[1])>0&&A!==z.ZOOM?A=z.MOVE:y[0].dot(y[1])<0&&A!==z.MOVE&&(A=z.ZOOM),A===z.ZOOM)){var c=new THREE.Vector2;c.subVectors(x[0],x[1]),y[0].dot(c)<0&&y[1].dot(c)>0?j.zoomOut():y[0].dot(c)>0&&y[1].dot(c)<0&&j.zoomIn()}if(A===z.MOVE){var e=d(a.mouseRay,j.center,u);if(!e)return;var f=(new THREE.Vector3).subVectors(w.clone(),e.clone());j.center.addVectors(t.clone(),f.clone()),j.camera.position.addVectors(v.clone(),f.clone()),j.update(),j.camera.updateMatrixWorld()}this.showAxes(),b.preventDefault()}}function i(a){var b=a.domEvent;1===b.touches.length&&A!==z.ROTATE?(A=z.ROTATE,n.set(b.touches[0].pageX-window.scrollX,b.touches[0].pageY-window.scrollY)):A=z.NONE}THREE.EventDispatcher.call(this);var j=this;a=a||{};var k=a.scene;this.camera=a.camera,this.center=new THREE.Vector3,this.userZoom=!0,this.userZoomSpeed=a.userZoomSpeed||1,this.userRotate=!0,this.userRotateSpeed=a.userRotateSpeed||1,this.autoRotate=a.autoRotate,this.autoRotateSpeed=a.autoRotateSpeed||2,this.camera.up=new THREE.Vector3(0,0,1);var l=1800,m=10,n=new THREE.Vector2,o=new THREE.Vector2,p=new THREE.Vector2,q=new THREE.Vector2,r=new THREE.Vector2,s=new THREE.Vector2,t=new THREE.Vector3,u=new THREE.Vector3,v=new THREE.Vector3,w=new THREE.Vector3,x=new Array(2),y=new Array(2);this.phiDelta=0,this.thetaDelta=0,this.scale=1,this.lastPosition=new THREE.Vector3;var z={NONE:-1,ROTATE:0,ZOOM:1,MOVE:2},A=z.NONE;this.axes=new ROS3D.Axes({shaftRadius:.025,headRadius:.07,headLength:.2}),k.add(this.axes),this.axes.traverse(function(a){a.visible=!1}),this.addEventListener("mousedown",b),this.addEventListener("mouseup",e),this.addEventListener("mousemove",c),this.addEventListener("touchstart",g),this.addEventListener("touchmove",h),this.addEventListener("touchend",i),this.addEventListener("mousewheel",f),this.addEventListener("DOMMouseScroll",f)},ROS3D.OrbitControls.prototype.showAxes=function(){var a=this;this.axes.traverse(function(a){a.visible=!0}),this.hideTimeout&&clearTimeout(this.hideTimeout),this.hideTimeout=setTimeout(function(){a.axes.traverse(function(a){a.visible=!1}),a.hideTimeout=!1},1e3)},ROS3D.OrbitControls.prototype.rotateLeft=function(a){void 0===a&&(a=2*Math.PI/60/60*this.autoRotateSpeed),this.thetaDelta-=a},ROS3D.OrbitControls.prototype.rotateRight=function(a){void 0===a&&(a=2*Math.PI/60/60*this.autoRotateSpeed),this.thetaDelta+=a},ROS3D.OrbitControls.prototype.rotateUp=function(a){void 0===a&&(a=2*Math.PI/60/60*this.autoRotateSpeed),this.phiDelta-=a},ROS3D.OrbitControls.prototype.rotateDown=function(a){void 0===a&&(a=2*Math.PI/60/60*this.autoRotateSpeed),this.phiDelta+=a},ROS3D.OrbitControls.prototype.zoomIn=function(a){void 0===a&&(a=Math.pow(.95,this.userZoomSpeed)),this.scale/=a},ROS3D.OrbitControls.prototype.zoomOut=function(a){void 0===a&&(a=Math.pow(.95,this.userZoomSpeed)),this.scale*=a},ROS3D.OrbitControls.prototype.update=function(){var a=this.camera.position,b=a.clone().sub(this.center),c=Math.atan2(b.y,b.x),d=Math.atan2(Math.sqrt(b.y*b.y+b.x*b.x),b.z);this.autoRotate&&this.rotateLeft(2*Math.PI/60/60*this.autoRotateSpeed),c+=this.thetaDelta,d+=this.phiDelta;d=Math.max(1e-6,Math.min(Math.PI-1e-6,d));var e=b.length();b.set(e*Math.sin(d)*Math.cos(c),e*Math.sin(d)*Math.sin(c),e*Math.cos(d)),b.multiplyScalar(this.scale),a.copy(this.center).add(b),this.camera.lookAt(this.center),e=b.length(),this.axes.position.copy(this.center),this.axes.scale.set(.05*e,.05*e,.05*e),this.axes.updateMatrixWorld(!0),this.thetaDelta=0,this.phiDelta=0,this.scale=1,this.lastPosition.distanceTo(this.camera.position)>0&&(this.dispatchEvent({type:"change"}),this.lastPosition.copy(this.camera.position))},Object.assign(ROS3D.OrbitControls.prototype,THREE.EventDispatcher.prototype),ROS3D.SceneNode=function(a){a=a||{};var b=this;this.tfClient=a.tfClient,this.frameID=a.frameID;var c=a.object;this.pose=a.pose||new ROSLIB.Pose,THREE.Object3D.call(this),this.visible=!1,this.add(c),this.updatePose(this.pose),this.tfUpdate=function(a){var c=new ROSLIB.Transform(a),d=new ROSLIB.Pose(b.pose);d.applyTransform(c),b.updatePose(d),b.visible=!0},this.tfClient.subscribe(this.frameID,this.tfUpdate)},ROS3D.SceneNode.prototype.__proto__=THREE.Object3D.prototype,ROS3D.SceneNode.prototype.updatePose=function(a){this.position.set(a.position.x,a.position.y,a.position.z),this.quaternion.set(a.orientation.x,a.orientation.y,a.orientation.z,a.orientation.w),this.updateMatrixWorld(!0)},ROS3D.SceneNode.prototype.unsubscribeTf=function(){this.tfClient.unsubscribe(this.frameID,this.tfUpdate)},ROS3D.Viewer=function(a){a=a||{};var b=a.divID,c=a.width,d=a.height,e=a.background||"#111111",f=a.antialias,g=a.intensity||.66,h=a.near||.01,i=a.far||1e3,j=a.alpha||1,k=a.cameraPose||{x:3,y:3,z:3},l=a.cameraZoomSpeed||.5;this.renderer=new THREE.WebGLRenderer({antialias:f,alpha:!0}),this.renderer.setClearColor(parseInt(e.replace("#","0x"),16),j),this.renderer.sortObjects=!1,this.renderer.setSize(c,d),this.renderer.shadowMap.enabled=!1,this.renderer.autoClear=!1,this.scene=new THREE.Scene,this.camera=new THREE.PerspectiveCamera(40,c/d,h,i),this.camera.position.x=k.x,this.camera.position.y=k.y,this.camera.position.z=k.z,this.cameraControls=new ROS3D.OrbitControls({scene:this.scene,camera:this.camera}),this.cameraControls.userZoomSpeed=l,this.scene.add(new THREE.AmbientLight(5592405)),this.directionalLight=new THREE.DirectionalLight(16777215,g),this.scene.add(this.directionalLight),this.selectableObjects=new THREE.Object3D,this.scene.add(this.selectableObjects);var m=new ROS3D.MouseHandler({renderer:this.renderer,camera:this.camera,rootObject:this.selectableObjects,fallbackTarget:this.cameraControls});this.highlighter=new ROS3D.Highlighter({mouseHandler:m}),this.stopped=!0,this.animationRequestId=void 0,document.getElementById(b).appendChild(this.renderer.domElement),this.start()},ROS3D.Viewer.prototype.start=function(){this.stopped=!1,this.draw()},ROS3D.Viewer.prototype.draw=function(){this.stopped||(this.cameraControls.update(),this.directionalLight.position=this.camera.localToWorld(new THREE.Vector3(-1,1,0)),this.directionalLight.position.normalize(),this.renderer.clear(!0,!0,!0),this.renderer.render(this.scene,this.camera),this.highlighter.renderHighlights(this.scene,this.renderer,this.camera),this.animationRequestId=requestAnimationFrame(this.draw.bind(this)))},ROS3D.Viewer.prototype.stop=function(){this.stopped||cancelAnimationFrame(this.animationRequestId),this.stopped=!0},ROS3D.Viewer.prototype.addObject=function(a,b){b?this.selectableObjects.add(a):this.scene.add(a)},ROS3D.Viewer.prototype.resize=function(a,b){this.camera.aspect=a/b,this.camera.updateProjectionMatrix(),this.renderer.setSize(a,b)};
\ No newline at end of file
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a.parameters.color&&b.color.copy(a.parameters.color),a.parameters.distance&&(b.distance=a.parameters.distance),b}function ma(a){for(var b={name:a.getAttribute("name"),sources:{},vertices:{},primitives:[]},d=c(a,"mesh")[0],e=0;e<d.childNodes.length;e++){var f=d.childNodes[e];if(1===f.nodeType){var g=f.getAttribute("id");switch(f.nodeName){case"source":b.sources[g]=na(f);break;case"vertices":b.vertices=oa(f);break;case"polygons":console.warn("THREE.ColladaLoader: Unsupported primitive type: ",f.nodeName);break;case"lines":case"linestrips":case"polylist":case"triangles":b.primitives.push(pa(f));break;default:console.log(f)}}}gb.geometries[a.getAttribute("id")]=b}function na(a){for(var b={array:[],stride:3},f=0;f<a.childNodes.length;f++){var g=a.childNodes[f];if(1===g.nodeType)switch(g.nodeName){case"float_array":b.array=e(g.textContent);break;case"Name_array":b.array=d(g.textContent);break;case"technique_common":var h=c(g,"accessor")[0];void 0!==h&&(b.stride=parseInt(h.getAttribute("stride")))}}return b}function oa(a){for(var b={},c=0;c<a.childNodes.length;c++){var d=a.childNodes[c];1===d.nodeType&&(b[d.getAttribute("semantic")]=g(d.getAttribute("source")))}return b}function pa(a){for(var b={type:a.nodeName,material:a.getAttribute("material"),count:parseInt(a.getAttribute("count")),inputs:{},stride:0},c=0,d=a.childNodes.length;c<d;c++){var e=a.childNodes[c];if(1===e.nodeType)switch(e.nodeName){case"input":var h=g(e.getAttribute("source")),i=e.getAttribute("semantic"),j=parseInt(e.getAttribute("offset"));b.inputs[i]={id:h,offset:j},b.stride=Math.max(b.stride,j+1);break;case"vcount":b.vcount=f(e.textContent);break;case"p":b.p=f(e.textContent)}}return b}function qa(a){for(var b={},c=0;c<a.length;c++){var d=a[c];void 0===b[d.type]&&(b[d.type]=[]),b[d.type].push(d)}return b}function ra(a){var b={},c=a.sources,d=a.vertices,e=a.primitives;if(0===e.length)return{};var f=qa(e);for(var g in f)b[g]=sa(f[g],c,d);return b}function sa(a,b,c){for(var d={},e={array:[],stride:0},f={array:[],stride:0},g={array:[],stride:0},h={array:[],stride:0},i={array:[],stride:4},j={array:[],stride:4},k=new THREE.BufferGeometry,l=[],m=0,n=0,o=0;o<a.length;o++){var p=a[o],q=p.inputs,r=1;p.vcount&&4===p.vcount[0]&&(r=2),n="lines"===p.type||"linestrips"===p.type?2*p.count:3*p.count*r,k.addGroup(m,n,o),m+=n,p.material&&l.push(p.material);for(var s in q){var t=q[s];switch(s){case"VERTEX":for(var u in c){var v=c[u];switch(u){case"POSITION":ta(p,b[v],t.offset,e.array),e.stride=b[v].stride,b.skinWeights&&b.skinIndices&&(ta(p,b.skinIndices,t.offset,i.array),ta(p,b.skinWeights,t.offset,j.array));break;case"NORMAL":ta(p,b[v],t.offset,f.array),f.stride=b[v].stride;break;case"COLOR":ta(p,b[v],t.offset,h.array),h.stride=b[v].stride;break;case"TEXCOORD":ta(p,b[v],t.offset,g.array),g.stride=b[v].stride;break;default:console.warn('THREE.ColladaLoader: Semantic "%s" not handled in geometry build process.',u)}}break;case"NORMAL":ta(p,b[t.id],t.offset,f.array),f.stride=b[t.id].stride;break;case"COLOR":ta(p,b[t.id],t.offset,h.array),h.stride=b[t.id].stride;break;case"TEXCOORD":ta(p,b[t.id],t.offset,g.array),g.stride=b[t.id].stride}}}return e.array.length>0&&k.addAttribute("position",new THREE.Float32BufferAttribute(e.array,e.stride)),f.array.length>0&&k.addAttribute("normal",new THREE.Float32BufferAttribute(f.array,f.stride)),h.array.length>0&&k.addAttribute("color",new THREE.Float32BufferAttribute(h.array,h.stride)),g.array.length>0&&k.addAttribute("uv",new THREE.Float32BufferAttribute(g.array,g.stride)),i.array.length>0&&k.addAttribute("skinIndex",new THREE.Float32BufferAttribute(i.array,i.stride)),j.array.length>0&&k.addAttribute("skinWeight",new THREE.Float32BufferAttribute(j.array,j.stride)),d.data=k,d.type=a[0].type,d.materialKeys=l,d}function ta(a,b,c,d){function e(a){for(var b=f[a+c]*k,e=b+k;b<e;b++)d.push(j[b])}var f=a.p,g=a.stride,h=a.vcount,i=0,j=b.array,k=b.stride;if(void 0!==a.vcount){for(var l=0,m=0,n=h.length;m<n;m++){var o=h[m];if(4===o){var p=l+0*g,q=l+1*g,r=l+2*g,s=l+3*g;e(p),e(q),e(s),e(q),e(r),e(s)}else if(3===o){var p=l+0*g,q=l+1*g,r=l+2*g;e(p),e(q),e(r)}else i=Math.max(i,o);l+=g*o}i>0&&console.log("THREE.ColladaLoader: Geometry has faces with more than 4 vertices.")}else for(var m=0,n=f.length;m<n;m+=g)e(m)}function ua(a){return n(gb.geometries[a],ra)}function va(a){for(var b={name:a.getAttribute("name")||"",joints:{},links:[]},c=0;c<a.childNodes.length;c++){var d=a.childNodes[c];if(1===d.nodeType)switch(d.nodeName){case"technique_common":ya(d,b)}}gb.kinematicsModels[a.getAttribute("id")]=b}function wa(a){return void 0!==a.build?a.build:a}function xa(a){return n(gb.kinematicsModels[a],wa)}function ya(a,b){for(var c=0;c<a.childNodes.length;c++){var d=a.childNodes[c];if(1===d.nodeType)switch(d.nodeName){case"joint":b.joints[d.getAttribute("sid")]=za(d);break;case"link":b.links.push(Ba(d))}}}function za(a){for(var b,c=0;c<a.childNodes.length;c++){var d=a.childNodes[c];if(1===d.nodeType)switch(d.nodeName){case"prismatic":case"revolute":b=Aa(d)}}return b}function Aa(a,b){for(var b={sid:a.getAttribute("sid"),name:a.getAttribute("name")||"",axis:new THREE.Vector3,limits:{min:0,max:0},type:a.nodeName,static:!1,zeroPosition:0,middlePosition:0},c=0;c<a.childNodes.length;c++){var d=a.childNodes[c];if(1===d.nodeType)switch(d.nodeName){case"axis":var f=e(d.textContent);b.axis.fromArray(f);break;case"limits":var g=d.getElementsByTagName("max")[0],h=d.getElementsByTagName("min")[0];b.limits.max=parseFloat(g.textContent),b.limits.min=parseFloat(h.textContent)}}return b.limits.min>=b.limits.max&&(b.static=!0),b.middlePosition=(b.limits.min+b.limits.max)/2,b}function Ba(a){for(var b={sid:a.getAttribute("sid"),name:a.getAttribute("name")||"",attachments:[],transforms:[]},c=0;c<a.childNodes.length;c++){var d=a.childNodes[c];if(1===d.nodeType)switch(d.nodeName){case"attachment_full":b.attachments.push(Ca(d));break;case"matrix":case"translate":case"rotate":b.transforms.push(Da(d))}}return b}function Ca(a){for(var b={joint:a.getAttribute("joint").split("/").pop(),transforms:[],links:[]},c=0;c<a.childNodes.length;c++){var d=a.childNodes[c];if(1===d.nodeType)switch(d.nodeName){case"link":b.links.push(Ba(d));break;case"matrix":case"translate":case"rotate":b.transforms.push(Da(d))}}return b}function Da(a){var b={type:a.nodeName},c=e(a.textContent);switch(b.type){case"matrix":b.obj=new THREE.Matrix4,b.obj.fromArray(c).transpose();break;case"translate":b.obj=new THREE.Vector3,b.obj.fromArray(c);break;case"rotate":b.obj=new THREE.Vector3,b.obj.fromArray(c),b.angle=THREE.Math.degToRad(c[3])}return b}function Ea(a){for(var b={bindJointAxis:[]},c=0;c<a.childNodes.length;c++){var d=a.childNodes[c];if(1===d.nodeType)switch(d.nodeName){case"bind_joint_axis":b.bindJointAxis.push(Fa(d))}}gb.kinematicsScenes[g(a.getAttribute("url"))]=b}function Fa(a){for(var b={target:a.getAttribute("target").split("/").pop()},c=0;c<a.childNodes.length;c++){var d=a.childNodes[c];if(1===d.nodeType)switch(d.nodeName){case"axis":var e=d.getElementsByTagName("param")[0];b.axis=e.textContent;var f=b.axis.split("inst_").pop().split("axis")[0];b.jointIndex=f.substr(0,f.length-1)}}return b}function Ga(a){return void 0!==a.build?a.build:a}function Ha(a){return n(gb.kinematicsScenes[a],Ga)}function Ia(a){for(var b=[],c=_a.querySelector('[id="'+a.id+'"]'),d=0;d<c.childNodes.length;d++){var f=c.childNodes[d];if(1===f.nodeType)switch(f.nodeName){case"matrix":var g=e(f.textContent),h=(new THREE.Matrix4).fromArray(g).transpose();b.push({sid:f.getAttribute("sid"),type:f.nodeName,obj:h});break;case"translate":case"scale":var g=e(f.textContent),i=(new THREE.Vector3).fromArray(g);b.push({sid:f.getAttribute("sid"),type:f.nodeName,obj:i});break;case"rotate":var g=e(f.textContent),i=(new THREE.Vector3).fromArray(g),j=THREE.Math.degToRad(g[3]);b.push({sid:f.getAttribute("sid"),type:f.nodeName,obj:i,angle:j})}}return b}function Ja(a){for(var b=a.getElementsByTagName("node"),c=0;c<b.length;c++){var d=b[c];!1===d.hasAttribute("id")&&d.setAttribute("id",h())}}function Ka(a){for(var b={name:a.getAttribute("name")||"",type:a.getAttribute("type"),id:a.getAttribute("id"),sid:a.getAttribute("sid"),matrix:new THREE.Matrix4,nodes:[],instanceCameras:[],instanceControllers:[],instanceLights:[],instanceGeometries:[],instanceNodes:[],transforms:{}},c=0;c<a.childNodes.length;c++){var d=a.childNodes[c];if(1===d.nodeType)switch(d.nodeName){case"node":b.nodes.push(d.getAttribute("id")),Ka(d);break;case"instance_camera":b.instanceCameras.push(g(d.getAttribute("url")));break;case"instance_controller":b.instanceControllers.push(La(d));break;case"instance_light":b.instanceLights.push(g(d.getAttribute("url")));break;case"instance_geometry":b.instanceGeometries.push(La(d));break;case"instance_node":b.instanceNodes.push(g(d.getAttribute("url")));break;case"matrix":var f=e(d.textContent);b.matrix.multiply(Ya.fromArray(f).transpose()),b.transforms[d.getAttribute("sid")]=d.nodeName;break;case"translate":var f=e(d.textContent);Za.fromArray(f),b.matrix.multiply(Ya.makeTranslation(Za.x,Za.y,Za.z)),b.transforms[d.getAttribute("sid")]=d.nodeName;break;case"rotate":var f=e(d.textContent),h=THREE.Math.degToRad(f[3]);b.matrix.multiply(Ya.makeRotationAxis(Za.fromArray(f),h)),b.transforms[d.getAttribute("sid")]=d.nodeName;break;case"scale":var f=e(d.textContent);b.matrix.scale(Za.fromArray(f)),b.transforms[d.getAttribute("sid")]=d.nodeName;break;case"extra":break;default:console.log(d)}}return gb.nodes[b.id]=b,b}function La(a){for(var b={id:g(a.getAttribute("url")),materials:{},skeletons:[]},c=0;c<a.childNodes.length;c++){var d=a.childNodes[c];switch(d.nodeName){case"bind_material":for(var e=d.getElementsByTagName("instance_material"),f=0;f<e.length;f++){var h=e[f],i=h.getAttribute("symbol"),j=h.getAttribute("target");b.materials[i]=g(j)}break;case"skeleton":b.skeletons.push(g(d.textContent))}}return b}function Ma(a,b){var c,d,e,f=[],g=[];for(c=0;c<a.length;c++){Na(Ra(a[c]),b,f)}for(c=0;c<b.length;c++)for(d=0;d<f.length;d++)if(e=f[d],e.bone.name===b[c].name){g[c]=e,e.processed=!0;break}for(c=0;c<f.length;c++)e=f[c],!1===e.processed&&(g.push(e),e.processed=!0);var h=[],i=[];for(c=0;c<g.length;c++)e=g[c],h.push(e.bone),i.push(e.boneInverse);return new THREE.Skeleton(h,i)}function Na(a,b,c){a.traverse(function(a){if(!0===a.isBone){for(var d,e=0;e<b.length;e++){var f=b[e];if(f.name===a.name){d=f.boneInverse;break}}void 0===d&&(d=new THREE.Matrix4),c.push({bone:a,boneInverse:d,processed:!1})}})}function Oa(a){for(var b=[],c=a.matrix,d=a.nodes,e=a.type,f=a.instanceCameras,g=a.instanceControllers,h=a.instanceLights,i=a.instanceGeometries,j=a.instanceNodes,k=0,l=d.length;k<l;k++)b.push(Ra(d[k]));for(var k=0,l=f.length;k<l;k++){var m=ha(f[k]);null!==m&&b.push(m.clone())}for(var k=0,l=g.length;k<l;k++)for(var n=g[k],o=K(n.id),p=ua(o.id),q=Qa(p,n.materials),r=n.skeletons,s=o.skin.joints,t=Ma(r,s),u=0,v=q.length;u<v;u++){var w=q[u];w.isSkinnedMesh&&(w.bind(t,o.skin.bindMatrix),w.normalizeSkinWeights()),b.push(w)}for(var k=0,l=h.length;k<l;k++){var m=ha(f[k]);null!==m&&b.push(m.clone())}for(var k=0,l=i.length;k<l;k++)for(var n=i[k],p=ua(n.id),q=Qa(p,n.materials),u=0,v=q.length;u<v;u++)b.push(q[u]);for(var k=0,l=j.length;k<l;k++)b.push(Ra(j[k]).clone());var w;if(0===d.length&&1===b.length)w=b[0];else{w="JOINT"===e?new THREE.Bone:new THREE.Group;for(var k=0;k<b.length;k++)w.add(b[k])}return w.name="JOINT"===e?a.sid:a.name,w.matrix.copy(c),w.matrix.decompose(w.position,w.quaternion,w.scale),w}function Pa(a,b){for(var c=[],d=0,e=a.length;d<e;d++){var f=b[a[d]];c.push(ba(f))}return c}function Qa(a,b){var c=[];for(var d in a){var e=a[d],f=Pa(e.materialKeys,b);0===f.length&&("lines"===d||"linestrips"===d?f.push(new THREE.LineBasicMaterial):f.push(new THREE.MeshPhongMaterial));var g=void 0!==e.data.attributes.skinIndex;if(g)for(var h=0,i=f.length;h<i;h++)f[h].skinning=!0;var j,k=1===f.length?f[0]:f;switch(d){case"lines":j=new THREE.LineSegments(e.data,k);break;case"linestrips":j=new THREE.Line(e.data,k);break;case"triangles":case"polylist":j=g?new THREE.SkinnedMesh(e.data,k):new THREE.Mesh(e.data,k)}c.push(j)}return c}function Ra(a){return n(gb.nodes[a],Oa)}function Sa(a){var b={name:a.getAttribute("name"),children:[]};Ja(a);for(var d=c(a,"node"),e=0;e<d.length;e++)b.children.push(Ka(d[e]));gb.visualScenes[a.getAttribute("id")]=b}function Ta(a){var b=new THREE.Group;b.name=a.name;for(var c=a.children,d=0;d<c.length;d++){var e=c[d];null===e.id?b.add(Oa(e)):b.add(Ra(e.id))}return b}function Ua(a){return n(gb.visualScenes[a],Ta)}var Va=new THREE.Vector3,Wa=new THREE.Vector3,Xa=new THREE.Quaternion,Ya=new THREE.Matrix4,Za=new THREE.Vector3;if(console.time("THREE.ColladaLoader"),0===a.length)return{scene:new THREE.Scene};console.time("THREE.ColladaLoader: DOMParser");var $a=(new DOMParser).parseFromString(a,"application/xml");console.timeEnd("THREE.ColladaLoader: DOMParser");var _a=c($a,"COLLADA")[0],ab=_a.getAttribute("version");console.log("THREE.ColladaLoader: File version",ab);var bb=function(a){return{unit:j(c(a,"unit")[0]),upAxis:k(c(a,"up_axis")[0])}}(c(_a,"asset")[0]),cb=new THREE.TextureLoader(this.manager);cb.setPath(b).setCrossOrigin(this.crossOrigin);var db=[],eb={},fb=0,gb={animations:{},clips:{},controllers:{},images:{},effects:{},materials:{},cameras:{},lights:{},geometries:{},nodes:{},visualScenes:{},kinematicsModels:{},kinematicsScenes:{}};console.time("THREE.ColladaLoader: Parse"),l(_a,"library_animations","animation",o),l(_a,"library_animation_clips","animation_clip",B),l(_a,"library_controllers","controller",E),l(_a,"library_images","image",L),l(_a,"library_effects","effect",O),l(_a,"library_materials","material",_),l(_a,"library_cameras","camera",ca),l(_a,"library_lights","light",ia),l(_a,"library_geometries","geometry",ma),l(_a,"library_nodes","node",Ka),l(_a,"library_visual_scenes","visual_scene",Sa),l(_a,"library_kinematics_models","kinematics_model",va),l(_a,"scene","instance_kinematics_scene",Ea),console.timeEnd("THREE.ColladaLoader: Parse"),console.time("THREE.ColladaLoader: Build"),m(gb.animations,r),m(gb.clips,C),m(gb.controllers,I),m(gb.images,M),m(gb.effects,Z),m(gb.materials,aa),m(gb.cameras,ga),m(gb.lights,la),m(gb.geometries,ra),m(gb.visualScenes,Ta),console.timeEnd("THREE.ColladaLoader: Build"),function(){var a=gb.clips;if(!0===i(a)){if(!1===i(gb.animations)){var b=[];for(var c in gb.animations)for(var d=s(c),e=0,f=d.length;e<f;e++)b.push(d[e]);db.push(new THREE.AnimationClip("default",-1,b))}}else for(var c in a)db.push(D(c))}(),function(){
+var a=Object.keys(gb.kinematicsModels)[0],b=Object.keys(gb.kinematicsScenes)[0],c=Object.keys(gb.visualScenes)[0];if(void 0!==a&&void 0!==b){for(var d=xa(a),e=Ha(b),f=Ua(c),g=e.bindJointAxis,h={},i=0,j=g.length;i<j;i++){var k=g[i],l=_a.querySelector('[sid="'+k.target+'"]');if(l){var m=l.parentElement;!function(a,b){var c=b.getAttribute("name"),e=d.joints[a];f.traverse(function(d){d.name===c&&(h[a]={object:d,transforms:Ia(b),joint:e,position:e.zeroPosition})})}(k.jointIndex,m)}}var n=new THREE.Matrix4;eb={joints:d&&d.joints,getJointValue:function(a){var b=h[a];if(b)return b.position;console.warn("THREE.ColladaLoader: Joint "+a+" doesn't exist.")},setJointValue:function(a,b){var c=h[a];if(c){var d=c.joint;if(b>d.limits.max||b<d.limits.min)console.warn("THREE.ColladaLoader: Joint "+a+" value "+b+" outside of limits (min: "+d.limits.min+", max: "+d.limits.max+").");else if(d.static)console.warn("THREE.ColladaLoader: Joint "+a+" is static.");else{var e=c.object,f=d.axis,g=c.transforms;Ya.identity();for(var i=0;i<g.length;i++){var j=g[i];if(j.sid&&-1!==j.sid.indexOf(a))switch(d.type){case"revolute":Ya.multiply(n.makeRotationAxis(f,THREE.Math.degToRad(b)));break;case"prismatic":Ya.multiply(n.makeTranslation(f.x*b,f.y*b,f.z*b));break;default:console.warn("THREE.ColladaLoader: Unknown joint type: "+d.type)}else switch(j.type){case"matrix":Ya.multiply(j.obj);break;case"translate":Ya.multiply(n.makeTranslation(j.obj.x,j.obj.y,j.obj.z));break;case"scale":Ya.scale(j.obj);break;case"rotate":Ya.multiply(n.makeRotationAxis(j.obj,j.angle))}}e.matrix.copy(Ya),e.matrix.decompose(e.position,e.quaternion,e.scale),h[a].position=b}}else console.log("THREE.ColladaLoader: "+a+" does not exist.")}}}}();var hb=function(a){return Ua(g(c(a,"instance_visual_scene")[0].getAttribute("url")))}(c(_a,"scene")[0]);return hb.scale.multiplyScalar(bb.unit),console.timeEnd("THREE.ColladaLoader"),{animations:db,kinematics:eb,library:gb,scene:hb}}},ROS3D.DepthCloud=function(a){a=a||{},THREE.Object3D.call(this),this.url=a.url,this.streamType=a.streamType||"vp8",this.f=a.f||526,this.pointSize=a.pointSize||3,this.width=a.width||1024,this.height=a.height||1024,this.whiteness=a.whiteness||0,this.varianceThreshold=a.varianceThreshold||16667e-9;this.isMjpeg="mjpeg"===this.streamType.toLowerCase(),this.video=document.createElement(this.isMjpeg?"img":"video"),this.video.addEventListener(this.isMjpeg?"load":"loadedmetadata",this.metaLoaded.bind(this),!1),this.isMjpeg||(this.video.loop=!0),this.video.src=this.url,this.video.crossOrigin="Anonymous",this.video.setAttribute("crossorigin","Anonymous"),this.vertex_shader=["uniform sampler2D map;","","uniform float width;","uniform float height;","uniform float nearClipping, farClipping;","","uniform float pointSize;","uniform float zOffset;","","uniform float focallength;","","varying vec2 vUvP;","varying vec2 colorP;","","varying float depthVariance;","varying float maskVal;","","float sampleDepth(vec2 pos)","  {","    float depth;","    ","    vec2 vUv = vec2( pos.x / (width*2.0), pos.y / (height*2.0)+0.5 );","    vec2 vUv2 = vec2( pos.x / (width*2.0)+0.5, pos.y / (height*2.0)+0.5 );","    ","    vec4 depthColor = texture2D( map, vUv );","    ","    depth = ( depthColor.r + depthColor.g + depthColor.b ) / 3.0 ;","    ","    if (depth>0.99)","    {","      vec4 depthColor2 = texture2D( map, vUv2 );","      float depth2 = ( depthColor2.r + depthColor2.g + depthColor2.b ) / 3.0 ;","      depth = 0.99+depth2;","    }","    ","    return depth;","  }","","float median(float a, float b, float c)","  {","    float r=a;","    ","    if ( (a<b) && (b<c) )","    {","      r = b;","    }","    if ( (a<c) && (c<b) )","    {","      r = c;","    }","    return r;","  }","","float variance(float d1, float d2, float d3, float d4, float d5, float d6, float d7, float d8, float d9)","  {","    float mean = (d1 + d2 + d3 + d4 + d5 + d6 + d7 + d8 + d9) / 9.0;","    float t1 = (d1-mean);","    float t2 = (d2-mean);","    float t3 = (d3-mean);","    float t4 = (d4-mean);","    float t5 = (d5-mean);","    float t6 = (d6-mean);","    float t7 = (d7-mean);","    float t8 = (d8-mean);","    float t9 = (d9-mean);","    float v = (t1*t1+t2*t2+t3*t3+t4*t4+t5*t5+t6*t6+t7*t7+t8*t8+t9*t9)/9.0;","    return v;","  }","","vec2 decodeDepth(vec2 pos)","  {","    vec2 ret;","    ","    ","    float depth1 = sampleDepth(vec2(position.x-1.0, position.y-1.0));","    float depth2 = sampleDepth(vec2(position.x, position.y-1.0));","    float depth3 = sampleDepth(vec2(position.x+1.0, position.y-1.0));","    float depth4 = sampleDepth(vec2(position.x-1.0, position.y));","    float depth5 = sampleDepth(vec2(position.x, position.y));","    float depth6 = sampleDepth(vec2(position.x+1.0, position.y));","    float depth7 = sampleDepth(vec2(position.x-1.0, position.y+1.0));","    float depth8 = sampleDepth(vec2(position.x, position.y+1.0));","    float depth9 = sampleDepth(vec2(position.x+1.0, position.y+1.0));","    ","    float median1 = median(depth1, depth2, depth3);","    float median2 = median(depth4, depth5, depth6);","    float median3 = median(depth7, depth8, depth9);","    ","    ret.x = median(median1, median2, median3);","    ret.y = variance(depth1, depth2, depth3, depth4, depth5, depth6, depth7, depth8, depth9);","    ","    return ret;","    ","  }","","","void main() {","  ","  vUvP = vec2( position.x / (width*2.0), position.y / (height*2.0)+0.5 );","  colorP = vec2( position.x / (width*2.0)+0.5 , position.y / (height*2.0)  );","  ","  vec4 pos = vec4(0.0,0.0,0.0,0.0);","  depthVariance = 0.0;","  ","  if ( (vUvP.x<0.0)|| (vUvP.x>0.5) || (vUvP.y<0.5) || (vUvP.y>0.0))","  {","    vec2 smp = decodeDepth(vec2(position.x, position.y));","    float depth = smp.x;","    depthVariance = smp.y;","    ","    float z = -depth;","    ","    pos = vec4(","      ( position.x / width - 0.5 ) * z * (1000.0/focallength) * -1.0,","      ( position.y / height - 0.5 ) * z * (1000.0/focallength),","      (- z + zOffset / 1000.0) * 2.0,","      1.0);","    ","    vec2 maskP = vec2( position.x / (width*2.0), position.y / (height*2.0)  );","    vec4 maskColor = texture2D( map, maskP );","    maskVal = ( maskColor.r + maskColor.g + maskColor.b ) / 3.0 ;","  }","  ","  gl_PointSize = pointSize;","  gl_Position = projectionMatrix * modelViewMatrix * pos;","  ","}"].join("\n"),this.fragment_shader=["uniform sampler2D map;","uniform float varianceThreshold;","uniform float whiteness;","","varying vec2 vUvP;","varying vec2 colorP;","","varying float depthVariance;","varying float maskVal;","","","void main() {","  ","  vec4 color;","  ","  if ( (depthVariance>varianceThreshold) || (maskVal>0.5) ||(vUvP.x<0.0)|| (vUvP.x>0.5) || (vUvP.y<0.5) || (vUvP.y>1.0))","  {  ","    discard;","  }","  else ","  {","    color = texture2D( map, colorP );","    ","    float fader = whiteness /100.0;","    ","    color.r = color.r * (1.0-fader)+ fader;","    ","    color.g = color.g * (1.0-fader)+ fader;","    ","    color.b = color.b * (1.0-fader)+ fader;","    ","    color.a = 1.0;//smoothstep( 20000.0, -20000.0, gl_FragCoord.z / gl_FragCoord.w );","  }","  ","  gl_FragColor = vec4( color.r, color.g, color.b, color.a );","  ","}"].join("\n")},ROS3D.DepthCloud.prototype.__proto__=THREE.Object3D.prototype,ROS3D.DepthCloud.prototype.metaLoaded=function(){this.metaLoaded=!0,this.initStreamer()},ROS3D.DepthCloud.prototype.initStreamer=function(){if(this.metaLoaded){this.texture=new THREE.Texture(this.video),this.geometry=new THREE.Geometry;for(var a=0,b=this.width*this.height;a<b;a++){var c=new THREE.Vector3;c.x=a%this.width,c.y=Math.floor(a/this.width),this.geometry.vertices.push(c)}this.material=new THREE.ShaderMaterial({uniforms:{map:{type:"t",value:this.texture},width:{type:"f",value:this.width},height:{type:"f",value:this.height},focallength:{type:"f",value:this.f},pointSize:{type:"f",value:this.pointSize},zOffset:{type:"f",value:0},whiteness:{type:"f",value:this.whiteness},varianceThreshold:{type:"f",value:this.varianceThreshold}},vertexShader:this.vertex_shader,fragmentShader:this.fragment_shader}),this.mesh=new THREE.ParticleSystem(this.geometry,this.material),this.mesh.position.x=0,this.mesh.position.y=0,this.add(this.mesh);var d=this;setInterval(function(){(d.isMjpeg||d.video.readyState===d.video.HAVE_ENOUGH_DATA)&&(d.texture.needsUpdate=!0)},1e3/30)}},ROS3D.DepthCloud.prototype.startStream=function(){this.isMjpeg||this.video.play()},ROS3D.DepthCloud.prototype.stopStream=function(){this.isMjpeg||this.video.pause()},ROS3D.InteractiveMarker=function(a){THREE.Object3D.call(this),THREE.EventDispatcher.call(this);var b=this;a=a||{};var c=a.handle;this.name=c.name;var d=a.camera,e=a.path||"/",f=a.loader||ROS3D.COLLADA_LOADER_2;this.dragging=!1,this.onServerSetPose({pose:c.pose}),this.dragStart={position:new THREE.Vector3,orientation:new THREE.Quaternion,positionWorld:new THREE.Vector3,orientationWorld:new THREE.Quaternion,event3d:{}},c.controls.forEach(function(a){b.add(new ROS3D.InteractiveMarkerControl({parent:b,handle:c,message:a,camera:d,path:e,loader:f}))}),c.menuEntries.length>0&&(this.menu=new ROS3D.InteractiveMarkerMenu({menuEntries:c.menuEntries,menuFontSize:c.menuFontSize}),this.menu.addEventListener("menu-select",function(a){b.dispatchEvent(a)}))},ROS3D.InteractiveMarker.prototype.__proto__=THREE.Object3D.prototype,ROS3D.InteractiveMarker.prototype.showMenu=function(a,b){this.menu&&this.menu.show(a,b)},ROS3D.InteractiveMarker.prototype.moveAxis=function(a,b,c){if(this.dragging){var d=a.currentControlOri,e=b.clone().applyQuaternion(d),f=this.dragStart.event3d.intersection.point,g=e.clone().applyQuaternion(this.dragStart.orientationWorld.clone()),h=new THREE.Ray(f,g),i=ROS3D.closestAxisPoint(h,c.camera,c.mousePos),j=new THREE.Vector3;j.addVectors(this.dragStart.position,e.clone().applyQuaternion(this.dragStart.orientation).multiplyScalar(i)),this.setPosition(a,j),c.stopPropagation()}},ROS3D.InteractiveMarker.prototype.movePlane=function(a,b,c){if(this.dragging){var d=a.currentControlOri,e=b.clone().applyQuaternion(d),f=this.dragStart.event3d.intersection.point,g=e.clone().applyQuaternion(this.dragStart.orientationWorld),h=ROS3D.intersectPlane(c.mouseRay,f,g),i=new THREE.Vector3;i.subVectors(h,f),i.add(this.dragStart.positionWorld),this.setPosition(a,i),c.stopPropagation()}},ROS3D.InteractiveMarker.prototype.rotateAxis=function(a,b,c){if(this.dragging){a.updateMatrixWorld();var d=a.currentControlOri,e=d.clone().multiply(b.clone()),f=new THREE.Vector3(1,0,0).applyQuaternion(e),g=this.dragStart.event3d.intersection.point,h=f.applyQuaternion(this.dragStart.orientationWorld),i=ROS3D.intersectPlane(c.mouseRay,g,h),j=new THREE.Ray(this.dragStart.positionWorld,h),k=ROS3D.intersectPlane(j,g,h),l=this.dragStart.orientationWorld.clone().multiply(e),m=l.clone().inverse();i.sub(k),i.applyQuaternion(m);var n=this.dragStart.event3d.intersection.point.clone();n.sub(k),n.applyQuaternion(m);var o=Math.atan2(i.y,i.z),p=Math.atan2(n.y,n.z),q=p-o,r=new THREE.Quaternion;r.setFromAxisAngle(f,q),this.setOrientation(a,r.multiply(this.dragStart.orientationWorld)),c.stopPropagation()}},ROS3D.InteractiveMarker.prototype.feedbackEvent=function(a,b){this.dispatchEvent({type:a,position:this.position.clone(),orientation:this.quaternion.clone(),controlName:b.name})},ROS3D.InteractiveMarker.prototype.startDrag=function(a,b){if(0===b.domEvent.button){b.stopPropagation(),this.dragging=!0,this.updateMatrixWorld(!0);var c=new THREE.Vector3;this.matrixWorld.decompose(this.dragStart.positionWorld,this.dragStart.orientationWorld,c),this.dragStart.position=this.position.clone(),this.dragStart.orientation=this.quaternion.clone(),this.dragStart.event3d=b,this.feedbackEvent("user-mousedown",a)}},ROS3D.InteractiveMarker.prototype.stopDrag=function(a,b){0===b.domEvent.button&&(b.stopPropagation(),this.dragging=!1,this.dragStart.event3d={},this.onServerSetPose(this.bufferedPoseEvent),this.bufferedPoseEvent=void 0,this.feedbackEvent("user-mouseup",a))},ROS3D.InteractiveMarker.prototype.buttonClick=function(a,b){b.stopPropagation(),this.feedbackEvent("user-button-click",a)},ROS3D.InteractiveMarker.prototype.setPosition=function(a,b){this.position.copy(b),this.feedbackEvent("user-pose-change",a)},ROS3D.InteractiveMarker.prototype.setOrientation=function(a,b){b.normalize(),this.quaternion.copy(b),this.feedbackEvent("user-pose-change",a)},ROS3D.InteractiveMarker.prototype.onServerSetPose=function(a){if(void 0!==a)if(this.dragging)this.bufferedPoseEvent=a;else{var b=a.pose;this.position.copy(b.position),this.quaternion.copy(b.orientation),this.updateMatrixWorld(!0)}},ROS3D.InteractiveMarker.prototype.dispose=function(){var a=this;this.children.forEach(function(b){b.children.forEach(function(a){a.dispose(),b.remove(a)}),a.remove(b)})},Object.assign(ROS3D.InteractiveMarker.prototype,THREE.EventDispatcher.prototype),ROS3D.InteractiveMarkerClient=function(a){a=a||{},this.ros=a.ros,this.tfClient=a.tfClient,this.topicName=a.topic,this.path=a.path||"/",this.camera=a.camera,this.rootObject=a.rootObject||new THREE.Object3D,this.loader=a.loader||ROS3D.COLLADA_LOADER_2,this.menuFontSize=a.menuFontSize||"0.8em",this.interactiveMarkers={},this.updateTopic=null,this.feedbackTopic=null,this.topicName&&this.subscribe(this.topicName)},ROS3D.InteractiveMarkerClient.prototype.subscribe=function(a){this.unsubscribe(),this.updateTopic=new ROSLIB.Topic({ros:this.ros,name:a+"/tunneled/update",messageType:"visualization_msgs/InteractiveMarkerUpdate",compression:"png"}),this.updateTopic.subscribe(this.processUpdate.bind(this)),this.feedbackTopic=new ROSLIB.Topic({ros:this.ros,name:a+"/feedback",messageType:"visualization_msgs/InteractiveMarkerFeedback",compression:"png"}),this.feedbackTopic.advertise(),this.initService=new ROSLIB.Service({ros:this.ros,name:a+"/tunneled/get_init",serviceType:"demo_interactive_markers/GetInit"});var b=new ROSLIB.ServiceRequest({});this.initService.callService(b,this.processInit.bind(this))},ROS3D.InteractiveMarkerClient.prototype.unsubscribe=function(){this.updateTopic&&this.updateTopic.unsubscribe(),this.feedbackTopic&&this.feedbackTopic.unadvertise();for(var a in this.interactiveMarkers)this.eraseIntMarker(a);this.interactiveMarkers={}},ROS3D.InteractiveMarkerClient.prototype.processInit=function(a){var b=a.msg;b.erases=[];for(var c in this.interactiveMarkers)b.erases.push(c);b.poses=[],this.processUpdate(b)},ROS3D.InteractiveMarkerClient.prototype.processUpdate=function(a){var b=this;a.erases.forEach(function(a){b.eraseIntMarker(a)}),a.poses.forEach(function(a){var c=b.interactiveMarkers[a.name];c&&c.setPoseFromServer(a.pose)}),a.markers.forEach(function(a){var c=b.interactiveMarkers[a.name];c&&b.eraseIntMarker(c.name);var d=new ROS3D.InteractiveMarkerHandle({message:a,feedbackTopic:b.feedbackTopic,tfClient:b.tfClient,menuFontSize:b.menuFontSize});b.interactiveMarkers[a.name]=d;var e=new ROS3D.InteractiveMarker({handle:d,camera:b.camera,path:b.path,loader:b.loader});e.name=a.name,b.rootObject.add(e),d.on("pose",function(a){e.onServerSetPose({pose:a})}),e.addEventListener("user-pose-change",d.setPoseFromClientBound),e.addEventListener("user-mousedown",d.onMouseDownBound),e.addEventListener("user-mouseup",d.onMouseUpBound),e.addEventListener("user-button-click",d.onButtonClickBound),e.addEventListener("menu-select",d.onMenuSelectBound),d.subscribeTf()})},ROS3D.InteractiveMarkerClient.prototype.eraseIntMarker=function(a){if(this.interactiveMarkers[a]){var b=this.rootObject.getObjectByName(a);this.rootObject.remove(b);var c=this.interactiveMarkers[a];c.unsubscribeTf(),b.removeEventListener("user-pose-change",c.setPoseFromClientBound),b.removeEventListener("user-mousedown",c.onMouseDownBound),b.removeEventListener("user-mouseup",c.onMouseUpBound),b.removeEventListener("user-button-click",c.onButtonClickBound),b.removeEventListener("menu-select",c.onMenuSelectBound),delete this.interactiveMarkers[a],b.dispose()}},ROS3D.InteractiveMarkerControl=function(a){function b(a){a.stopPropagation()}var c=this;THREE.Object3D.call(this),a=a||{},this.parent=a.parent;var d=a.handle,e=a.message;this.name=e.name,this.camera=a.camera,this.path=a.path||"/",this.loader=a.loader||ROS3D.COLLADA_LOADER_2,this.dragging=!1,this.startMousePos=new THREE.Vector2;var f=new THREE.Quaternion(e.orientation.x,e.orientation.y,e.orientation.z,e.orientation.w);f.normalize();var g=new THREE.Vector3(1,0,0);switch(g.applyQuaternion(f),this.currentControlOri=new THREE.Quaternion,e.interaction_mode){case ROS3D.INTERACTIVE_MARKER_MOVE_AXIS:this.addEventListener("mousemove",this.parent.moveAxis.bind(this.parent,this,g)),this.addEventListener("touchmove",this.parent.moveAxis.bind(this.parent,this,g));break;case ROS3D.INTERACTIVE_MARKER_ROTATE_AXIS:this.addEventListener("mousemove",this.parent.rotateAxis.bind(this.parent,this,f));break;case ROS3D.INTERACTIVE_MARKER_MOVE_PLANE:this.addEventListener("mousemove",this.parent.movePlane.bind(this.parent,this,g));break;case ROS3D.INTERACTIVE_MARKER_BUTTON:this.addEventListener("click",this.parent.buttonClick.bind(this.parent,this))}e.interaction_mode!==ROS3D.INTERACTIVE_MARKER_NONE&&(this.addEventListener("mousedown",this.parent.startDrag.bind(this.parent,this)),this.addEventListener("mouseup",this.parent.stopDrag.bind(this.parent,this)),this.addEventListener("contextmenu",this.parent.showMenu.bind(this.parent,this)),this.addEventListener("mouseup",function(a){0===c.startMousePos.distanceToSquared(a.mousePos)&&(a.type="contextmenu",c.dispatchEvent(a))}),this.addEventListener("mouseover",b),this.addEventListener("mouseout",b),this.addEventListener("click",b),this.addEventListener("mousedown",function(a){c.startMousePos=a.mousePos}),this.addEventListener("touchstart",function(a){1===a.domEvent.touches.length&&(a.type="mousedown",a.domEvent.button=0,c.dispatchEvent(a))}),this.addEventListener("touchmove",function(a){1===a.domEvent.touches.length&&(a.type="mousemove",a.domEvent.button=0,c.dispatchEvent(a))}),this.addEventListener("touchend",function(a){0===a.domEvent.touches.length&&(a.domEvent.button=0,a.type="mouseup",c.dispatchEvent(a),a.type="click",c.dispatchEvent(a))}));var h=new THREE.Quaternion,i=this.parent.position.clone().multiplyScalar(-1);switch(e.orientation_mode){case ROS3D.INTERACTIVE_MARKER_INHERIT:h=this.parent.quaternion.clone().inverse(),this.updateMatrixWorld=function(a){ROS3D.InteractiveMarkerControl.prototype.updateMatrixWorld.call(c,a),c.currentControlOri.copy(c.quaternion),c.currentControlOri.normalize()};break;case ROS3D.INTERACTIVE_MARKER_FIXED:this.updateMatrixWorld=function(a){c.quaternion.copy(c.parent.quaternion.clone().inverse()),c.updateMatrix(),c.matrixWorldNeedsUpdate=!0,ROS3D.InteractiveMarkerControl.prototype.updateMatrixWorld.call(c,a),c.currentControlOri.copy(c.quaternion)};break;case ROS3D.INTERACTIVE_MARKER_VIEW_FACING:var j=e.independent_marker_orientation;this.updateMatrixWorld=function(a){c.camera.updateMatrixWorld();var b=(new THREE.Matrix4).extractRotation(c.camera.matrixWorld),d=new THREE.Matrix4,e=.5*Math.PI,f=new THREE.Euler(-e,0,e);d.makeRotationFromEuler(f);var g=new THREE.Matrix4;g.getInverse(c.parent.matrixWorld),b.multiplyMatrices(b,d),b.multiplyMatrices(g,b),c.currentControlOri.setFromRotationMatrix(b),j||(c.quaternion.copy(c.currentControlOri),c.updateMatrix(),c.matrixWorldNeedsUpdate=!0),ROS3D.InteractiveMarkerControl.prototype.updateMatrixWorld.call(c,a)};break;default:console.error("Unkown orientation mode: "+e.orientation_mode)}var k=new ROSLIB.TFClient({ros:d.tfClient.ros,fixedFrame:d.message.header.frame_id,serverName:d.tfClient.serverName});e.markers.forEach(function(a){var b=function(b){var d=new ROS3D.Marker({message:a,path:c.path,loader:c.loader});if(null!==b){var e=new ROSLIB.Pose({position:d.position,orientation:d.quaternion});e.applyTransform(new ROSLIB.Transform(b));var f=new ROS3D.Marker({message:a,path:c.path,loader:c.loader});f.position.add(i),f.position.applyQuaternion(h),f.quaternion.multiplyQuaternions(h,f.quaternion);var g=new THREE.Vector3(f.position.x,f.position.y,f.position.z),j=new ROSLIB.Transform({translation:g,orientation:f.quaternion});e.applyTransform(j),d.setPose(e),d.updateMatrixWorld(),k.unsubscribe(a.header.frame_id)}c.add(d)};""!==a.header.frame_id?k.subscribe(a.header.frame_id,b):b(null)})},ROS3D.InteractiveMarkerControl.prototype.__proto__=THREE.Object3D.prototype,ROS3D.InteractiveMarkerHandle=function(a){a=a||{},this.message=a.message,this.feedbackTopic=a.feedbackTopic,this.tfClient=a.tfClient,this.menuFontSize=a.menuFontSize||"0.8em",this.name=this.message.name,this.header=this.message.header,this.controls=this.message.controls,this.menuEntries=this.message.menu_entries,this.dragging=!1,this.timeoutHandle=null,this.tfTransform=new ROSLIB.Transform,this.pose=new ROSLIB.Pose,this.setPoseFromClientBound=this.setPoseFromClient.bind(this),this.onMouseDownBound=this.onMouseDown.bind(this),this.onMouseUpBound=this.onMouseUp.bind(this),this.onButtonClickBound=this.onButtonClick.bind(this),this.onMenuSelectBound=this.onMenuSelect.bind(this),this.setPoseFromServer(this.message.pose),this.tfUpdateBound=this.tfUpdate.bind(this)},ROS3D.InteractiveMarkerHandle.prototype.__proto__=EventEmitter2.prototype,ROS3D.InteractiveMarkerHandle.prototype.subscribeTf=function(){0===this.message.header.stamp.secs&&0===this.message.header.stamp.nsecs&&this.tfClient.subscribe(this.message.header.frame_id,this.tfUpdateBound)},ROS3D.InteractiveMarkerHandle.prototype.unsubscribeTf=function(){this.tfClient.unsubscribe(this.message.header.frame_id,this.tfUpdateBound)},ROS3D.InteractiveMarkerHandle.prototype.emitServerPoseUpdate=function(){var a=new ROSLIB.Pose(this.pose);a.applyTransform(this.tfTransform),this.emit("pose",a)},ROS3D.InteractiveMarkerHandle.prototype.setPoseFromServer=function(a){this.pose=new ROSLIB.Pose(a),this.emitServerPoseUpdate()},ROS3D.InteractiveMarkerHandle.prototype.tfUpdate=function(a){this.tfTransform=new ROSLIB.Transform(a),this.emitServerPoseUpdate()},ROS3D.InteractiveMarkerHandle.prototype.setPoseFromClient=function(a){this.pose=new ROSLIB.Pose(a);var b=this.tfTransform.clone();b.rotation.invert(),b.translation.multiplyQuaternion(b.rotation),b.translation.x*=-1,b.translation.y*=-1,b.translation.z*=-1,this.pose.applyTransform(b),this.sendFeedback(ROS3D.INTERACTIVE_MARKER_POSE_UPDATE,void 0,0,a.controlName),this.dragging&&(this.timeoutHandle&&clearTimeout(this.timeoutHandle),this.timeoutHandle=setTimeout(this.setPoseFromClient.bind(this,a),250))},ROS3D.InteractiveMarkerHandle.prototype.onButtonClick=function(a){this.sendFeedback(ROS3D.INTERACTIVE_MARKER_BUTTON_CLICK,a.clickPosition,0,a.controlName)},ROS3D.InteractiveMarkerHandle.prototype.onMouseDown=function(a){this.sendFeedback(ROS3D.INTERACTIVE_MARKER_MOUSE_DOWN,a.clickPosition,0,a.controlName),this.dragging=!0},ROS3D.InteractiveMarkerHandle.prototype.onMouseUp=function(a){this.sendFeedback(ROS3D.INTERACTIVE_MARKER_MOUSE_UP,a.clickPosition,0,a.controlName),this.dragging=!1,this.timeoutHandle&&clearTimeout(this.timeoutHandle)},ROS3D.InteractiveMarkerHandle.prototype.onMenuSelect=function(a){this.sendFeedback(ROS3D.INTERACTIVE_MARKER_MENU_SELECT,void 0,a.id,a.controlName)},ROS3D.InteractiveMarkerHandle.prototype.sendFeedback=function(a,b,c,d){var e=void 0!==b;b=b||{x:0,y:0,z:0};var f={header:this.header,client_id:this.clientID,marker_name:this.name,control_name:d,event_type:a,pose:this.pose,mouse_point:b,mouse_point_valid:e,menu_entry_id:c};this.feedbackTopic.publish(f)},ROS3D.InteractiveMarkerMenu=function(a){function b(a,b){this.dispatchEvent({type:"menu-select",domEvent:b,id:a.id,controlName:this.controlName}),this.hide(b)}function c(a,e){var f=document.createElement("ul");a.appendChild(f);for(var g=e.children,h=0;h<g.length;h++){var i=document.createElement("li"),j=document.createElement("div");j.appendChild(document.createTextNode(g[h].title)),f.appendChild(i),i.appendChild(j),g[h].children.length>0?(c(i,g[h]),j.addEventListener("click",d.hide.bind(d)),j.addEventListener("touchstart",d.hide.bind(d))):(j.addEventListener("click",b.bind(d,g[h])),j.addEventListener("touchstart",b.bind(d,g[h])),j.className="default-interactive-marker-menu-entry")}}var d=this;a=a||{};var e=a.menuEntries,f=a.className||"default-interactive-marker-menu",g=(a.entryClassName,a.overlayClassName||"default-interactive-marker-overlay"),h=a.menuFontSize||"0.8em",i=[];if(i[0]={children:[]},THREE.EventDispatcher.call(this),null===document.getElementById("default-interactive-marker-menu-css")){var j=document.createElement("style");j.id="default-interactive-marker-menu-css",j.type="text/css",j.innerHTML=".default-interactive-marker-menu {background-color: #444444;border: 1px solid #888888;border: 1px solid #888888;padding: 0px 0px 0px 0px;color: #FFFFFF;font-family: sans-serif;font-size: "+h+";z-index: 1002;}.default-interactive-marker-menu ul {padding: 0px 0px 5px 0px;margin: 0px;list-style-type: none;}.default-interactive-marker-menu ul li div {-webkit-touch-callout: none;-webkit-user-select: none;-khtml-user-select: none;-moz-user-select: none;-ms-user-select: none;user-select: none;cursor: default;padding: 3px 10px 3px 10px;}.default-interactive-marker-menu-entry:hover {  background-color: #666666;  cursor: pointer;}.default-interactive-marker-menu ul ul {  font-style: italic;  padding-left: 10px;}.default-interactive-marker-overlay {  position: absolute;  top: 0%;  left: 0%;  width: 100%;  height: 100%;  background-color: black;  z-index: 1001;  -moz-opacity: 0.0;  opacity: .0;  filter: alpha(opacity = 0);}",document.getElementsByTagName("head")[0].appendChild(j)}this.menuDomElem=document.createElement("div"),this.menuDomElem.style.position="absolute",this.menuDomElem.className=f,this.menuDomElem.addEventListener("contextmenu",function(a){a.preventDefault()}),this.overlayDomElem=document.createElement("div"),this.overlayDomElem.className=g,this.hideListener=this.hide.bind(this),this.overlayDomElem.addEventListener("contextmenu",this.hideListener),this.overlayDomElem.addEventListener("click",this.hideListener),this.overlayDomElem.addEventListener("touchstart",this.hideListener);var k,l,m;for(k=0;k<e.length;k++)l=e[k],m=l.id,i[m]={title:l.title,id:m,children:[]};for(k=0;k<e.length;k++){l=e[k],m=l.id;var n=i[m];i[l.parent_id].children.push(n)}c(this.menuDomElem,i[0])},ROS3D.InteractiveMarkerMenu.prototype.show=function(a,b){b&&b.preventDefault&&b.preventDefault(),this.controlName=a.name,void 0!==b.domEvent.changedTouches?(this.menuDomElem.style.left=b.domEvent.changedTouches[0].pageX+"px",this.menuDomElem.style.top=b.domEvent.changedTouches[0].pageY+"px"):(this.menuDomElem.style.left=b.domEvent.clientX+"px",this.menuDomElem.style.top=b.domEvent.clientY+"px"),document.body.appendChild(this.overlayDomElem),document.body.appendChild(this.menuDomElem)},ROS3D.InteractiveMarkerMenu.prototype.hide=function(a){a&&a.preventDefault&&a.preventDefault(),document.body.removeChild(this.overlayDomElem),document.body.removeChild(this.menuDomElem)},Object.assign(ROS3D.InteractiveMarkerMenu.prototype,THREE.EventDispatcher.prototype),ROS3D.Marker=function(a){a=a||{};var b=a.path||"/",c=a.message;"/"!==b.substr(b.length-1)&&(b+="/"),THREE.Object3D.call(this),c.scale?this.msgScale=[c.scale.x,c.scale.y,c.scale.z]:this.msgScale=[1,1,1],this.msgColor=c.color,this.msgMesh=void 0,this.setPose(c.pose);var d=ROS3D.makeColorMaterial(this.msgColor.r,this.msgColor.g,this.msgColor.b,this.msgColor.a);switch(c.type){case ROS3D.MARKER_ARROW:var e,f=c.scale.x,g=.23*f,h=c.scale.y,i=.5*h,j=null;if(2===c.points.length){j=new THREE.Vector3(c.points[0].x,c.points[0].y,c.points[0].z);var k=new THREE.Vector3(c.points[1].x,c.points[1].y,c.points[1].z);e=j.clone().negate().add(k),f=e.length(),h=c.scale.y,i=c.scale.x,0!==c.scale.z&&(g=c.scale.z)}this.add(new ROS3D.Arrow({direction:e,origin:j,length:f,headLength:g,shaftDiameter:i,headDiameter:h,material:d}));break;case ROS3D.MARKER_CUBE:var l=new THREE.BoxGeometry(c.scale.x,c.scale.y,c.scale.z);this.add(new THREE.Mesh(l,d));break;case ROS3D.MARKER_SPHERE:var m=new THREE.SphereGeometry(.5),n=new THREE.Mesh(m,d);n.scale.x=c.scale.x,n.scale.y=c.scale.y,n.scale.z=c.scale.z,this.add(n);break;case ROS3D.MARKER_CYLINDER:var o=new THREE.CylinderGeometry(.5,.5,1,16,1,!1),p=new THREE.Mesh(o,d);p.quaternion.setFromAxisAngle(new THREE.Vector3(1,0,0),.5*Math.PI),p.scale.set(c.scale.x,c.scale.z,c.scale.y),this.add(p);break;case ROS3D.MARKER_LINE_STRIP:var q,r=new THREE.Geometry,s=new THREE.LineBasicMaterial({size:c.scale.x});for(q=0;q<c.points.length;q++){var t=new THREE.Vector3;t.x=c.points[q].x,t.y=c.points[q].y,t.z=c.points[q].z,r.vertices.push(t)}if(c.colors.length===c.points.length)for(s.vertexColors=!0,q=0;q<c.points.length;q++){var u=new THREE.Color;u.setRGB(c.colors[q].r,c.colors[q].g,c.colors[q].b),r.colors.push(u)}else s.color.setRGB(c.color.r,c.color.g,c.color.b);this.add(new THREE.Line(r,s));break;case ROS3D.MARKER_LINE_LIST:var v,w=new THREE.Geometry,x=new THREE.LineBasicMaterial({size:c.scale.x});for(v=0;v<c.points.length;v++){var y=new THREE.Vector3;y.x=c.points[v].x,y.y=c.points[v].y,y.z=c.points[v].z,w.vertices.push(y)}if(c.colors.length===c.points.length)for(x.vertexColors=!0,v=0;v<c.points.length;v++){var z=new THREE.Color;z.setRGB(c.colors[v].r,c.colors[v].g,c.colors[v].b),w.colors.push(z)}else x.color.setRGB(c.color.r,c.color.g,c.color.b);this.add(new THREE.Line(w,x,THREE.LinePieces));break;case ROS3D.MARKER_CUBE_LIST:var A,B,C,D,E=new THREE.Object3D,F=c.points.length,G=F===c.colors.length,H=Math.ceil(F/1250);for(A=0;A<F;A+=H)B=new THREE.BoxGeometry(c.scale.x,c.scale.y,c.scale.z),C=G?ROS3D.makeColorMaterial(c.colors[A].r,c.colors[A].g,c.colors[A].b,c.colors[A].a):d,D=new THREE.Mesh(B,C),D.position.x=c.points[A].x,D.position.y=c.points[A].y,D.position.z=c.points[A].z,E.add(D);this.add(E);break;case ROS3D.MARKER_SPHERE_LIST:var I,J,K,L,M=new THREE.Object3D,N=c.points.length,O=N===c.colors.length,P=Math.ceil(N/1250);for(I=0;I<N;I+=P)J=new THREE.SphereGeometry(.5,8,8),K=O?ROS3D.makeColorMaterial(c.colors[I].r,c.colors[I].g,c.colors[I].b,c.colors[I].a):d,L=new THREE.Mesh(J,K),L.scale.x=c.scale.x,L.scale.y=c.scale.y,L.scale.z=c.scale.z,L.position.x=c.points[I].x,L.position.y=c.points[I].y,L.position.z=c.points[I].z,M.add(L);this.add(M);break;case ROS3D.MARKER_POINTS:var Q,R=new THREE.Geometry,S=new THREE.ParticleBasicMaterial({size:c.scale.x});for(Q=0;Q<c.points.length;Q++){var T=new THREE.Vector3;T.x=c.points[Q].x,T.y=c.points[Q].y,T.z=c.points[Q].z,R.vertices.push(T)}if(c.colors.length===c.points.length)for(S.vertexColors=!0,Q=0;Q<c.points.length;Q++){var U=new THREE.Color;U.setRGB(c.colors[Q].r,c.colors[Q].g,c.colors[Q].b),R.colors.push(U)}else S.color.setRGB(c.color.r,c.color.g,c.color.b);this.add(new THREE.ParticleSystem(R,S));break;case ROS3D.MARKER_TEXT_VIEW_FACING:if(c.text.length>0){var V=this.msgColor,W=document.createElement("canvas"),X=W.getContext("2d");X.font="normal 100px sans-serif";var Y=X.measureText(c.text),Z=Y.width;W.width=Z,W.height=150,X.font="normal 100px sans-serif",X.fillStyle="rgba("+Math.round(255*V.r)+", "+Math.round(255*V.g)+", "+Math.round(255*V.b)+", "+V.a+")",X.textAlign="left",X.textBaseline="middle",X.fillText(c.text,0,W.height/2);var $=new THREE.Texture(W);$.needsUpdate=!0;var _=new THREE.SpriteMaterial({map:$,useScreenCoordinates:!1}),aa=new THREE.Sprite(_),ba=c.scale.x;aa.scale.set(Z/W.height*ba,ba,1),this.add(aa)}break;case ROS3D.MARKER_MESH_RESOURCE:var ca=null;0===c.color.r&&0===c.color.g&&0===c.color.b&&0===c.color.a||(ca=d),this.msgMesh=c.mesh_resource.substr(10);var da=new ROS3D.MeshResource({path:b,resource:this.msgMesh,material:ca});this.add(da);break;case ROS3D.MARKER_TRIANGLE_LIST:var ea=new ROS3D.TriangleList({material:d,vertices:c.points,colors:c.colors});ea.scale.set(c.scale.x,c.scale.y,c.scale.z),this.add(ea);break;default:console.error("Currently unsupported marker type: "+c.type)}},ROS3D.Marker.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Marker.prototype.setPose=function(a){this.position.x=a.position.x,
+this.position.y=a.position.y,this.position.z=a.position.z,this.quaternion.set(a.orientation.x,a.orientation.y,a.orientation.z,a.orientation.w),this.quaternion.normalize(),this.updateMatrixWorld()},ROS3D.Marker.prototype.update=function(a){if(this.setPose(a.pose),a.color.r!==this.msgColor.r||a.color.g!==this.msgColor.g||a.color.b!==this.msgColor.b||a.color.a!==this.msgColor.a){var b=ROS3D.makeColorMaterial(a.color.r,a.color.g,a.color.b,a.color.a);switch(a.type){case ROS3D.MARKER_LINE_STRIP:case ROS3D.MARKER_LINE_LIST:case ROS3D.MARKER_POINTS:break;case ROS3D.MARKER_ARROW:case ROS3D.MARKER_CUBE:case ROS3D.MARKER_SPHERE:case ROS3D.MARKER_CYLINDER:case ROS3D.MARKER_TRIANGLE_LIST:case ROS3D.MARKER_TEXT_VIEW_FACING:this.traverse(function(a){a instanceof THREE.Mesh&&(a.material=b)});break;case ROS3D.MARKER_MESH_RESOURCE:var c=null;0===a.color.r&&0===a.color.g&&0===a.color.b&&0===a.color.a||(c=this.colorMaterial),this.traverse(function(a){a instanceof THREE.Mesh&&(a.material=c)});break;case ROS3D.MARKER_CUBE_LIST:case ROS3D.MARKER_SPHERE_LIST:default:return!1}this.msgColor=a.color}var d=Math.abs(this.msgScale[0]-a.scale.x)>1e-6||Math.abs(this.msgScale[1]-a.scale.y)>1e-6||Math.abs(this.msgScale[2]-a.scale.z)>1e-6;switch(this.msgScale=[a.scale.x,a.scale.y,a.scale.z],a.type){case ROS3D.MARKER_CUBE:case ROS3D.MARKER_SPHERE:case ROS3D.MARKER_CYLINDER:if(d)return!1;break;case ROS3D.MARKER_TEXT_VIEW_FACING:if(d||this.text!==a.text)return!1;break;case ROS3D.MARKER_MESH_RESOURCE:if(a.mesh_resource.substr(10)!==this.msgMesh)return!1;if(d)return!1;break;case ROS3D.MARKER_ARROW:case ROS3D.MARKER_LINE_STRIP:case ROS3D.MARKER_LINE_LIST:case ROS3D.MARKER_CUBE_LIST:case ROS3D.MARKER_SPHERE_LIST:case ROS3D.MARKER_POINTS:case ROS3D.MARKER_TRIANGLE_LIST:return!1}return!0},ROS3D.Marker.prototype.dispose=function(){this.children.forEach(function(a){a instanceof ROS3D.MeshResource?a.children.forEach(function(b){void 0!==b.material&&b.material.dispose(),b.children.forEach(function(a){void 0!==a.geometry&&a.geometry.dispose(),void 0!==a.material&&a.material.dispose(),b.remove(a)}),a.remove(b)}):(void 0!==a.geometry&&a.geometry.dispose(),void 0!==a.material&&a.material.dispose()),a.parent.remove(a)})},ROS3D.MarkerArrayClient=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic,this.tfClient=a.tfClient,this.rootObject=a.rootObject||new THREE.Object3D,this.path=a.path||"/",this.markers={},this.rosTopic=void 0,this.subscribe()},ROS3D.MarkerArrayClient.prototype.__proto__=EventEmitter2.prototype,ROS3D.MarkerArrayClient.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"visualization_msgs/MarkerArray",compression:"png"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.MarkerArrayClient.prototype.processMessage=function(a){a.markers.forEach(function(a){if(0===a.action){var b=!1;if(a.ns+a.id in this.markers&&((b=this.markers[a.ns+a.id].children[0].update(a))||(this.markers[a.ns+a.id].unsubscribeTf(),this.rootObject.remove(this.markers[a.ns+a.id]))),!b){var c=new ROS3D.Marker({message:a,path:this.path});this.markers[a.ns+a.id]=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:c}),this.rootObject.add(this.markers[a.ns+a.id])}}else if(1===a.action)console.warn('Received marker message with deprecated action identifier "1"');else if(2===a.action)this.markers[a.ns+a.id].unsubscribeTf(),this.rootObject.remove(this.markers[a.ns+a.id]),delete this.markers[a.ns+a.id];else if(3===a.action){for(var d in this.markers)this.markers[d].unsubscribeTf(),this.rootObject.remove(this.markers[d]);this.markers={}}else console.warn('Received marker message with unknown action identifier "'+a.action+'"')}.bind(this)),this.emit("change")},ROS3D.MarkerArrayClient.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.MarkerClient=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic,this.tfClient=a.tfClient,this.rootObject=a.rootObject||new THREE.Object3D,this.path=a.path||"/",this.markers={},this.rosTopic=void 0,this.subscribe()},ROS3D.MarkerClient.prototype.__proto__=EventEmitter2.prototype,ROS3D.MarkerClient.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.MarkerClient.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"visualization_msgs/Marker",compression:"png"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.MarkerClient.prototype.processMessage=function(a){var b=new ROS3D.Marker({message:a,path:this.path}),c=this.markers[a.ns+a.id];c&&(c.unsubscribeTf(),this.rootObject.remove(c)),this.markers[a.ns+a.id]=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:b}),this.rootObject.add(this.markers[a.ns+a.id]),this.emit("change")},ROS3D.Arrow=function(a){a=a||{};var b=a.origin||new THREE.Vector3(0,0,0),c=a.direction||new THREE.Vector3(1,0,0),d=a.length||1,e=a.headLength||.2,f=a.shaftDiameter||.05,g=a.headDiameter||.1,h=a.material||new THREE.MeshBasicMaterial,i=d-e,j=new THREE.CylinderGeometry(.5*f,.5*f,i,12,1),k=new THREE.Matrix4;k.setPosition(new THREE.Vector3(0,.5*i,0)),j.applyMatrix(k);var l=new THREE.CylinderGeometry(0,.5*g,e,12,1);k.setPosition(new THREE.Vector3(0,i+.5*e,0)),l.applyMatrix(k),j.merge(l),THREE.Mesh.call(this,j,h),this.position.copy(b),this.setDirection(c)},ROS3D.Arrow.prototype.__proto__=THREE.Mesh.prototype,ROS3D.Arrow.prototype.setDirection=function(a){var b=new THREE.Vector3(0,1,0).cross(a),c=Math.acos(new THREE.Vector3(0,1,0).dot(a.clone().normalize()));this.matrix=(new THREE.Matrix4).makeRotationAxis(b.normalize(),c),this.rotation.setFromRotationMatrix(this.matrix,this.rotation.order)},ROS3D.Arrow.prototype.setLength=function(a){this.scale.set(a,a,a)},ROS3D.Arrow.prototype.setColor=function(a){this.material.color.setHex(a)},ROS3D.Arrow.prototype.dispose=function(){void 0!==this.geometry&&this.geometry.dispose(),void 0!==this.material&&this.material.dispose()},ROS3D.Arrow2=function(a){a=a||{};var b=a.origin||new THREE.Vector3(0,0,0),c=a.direction||new THREE.Vector3(1,0,0),d=a.length||1;a.headLength,a.shaftDiameter,a.headDiameter,a.material||new THREE.MeshBasicMaterial;THREE.ArrowHelper.call(this,c,b,d,16711680)},ROS3D.Arrow2.prototype.__proto__=THREE.ArrowHelper.prototype,ROS3D.Arrow2.prototype.dispose=function(){void 0!==this.line&&(this.line.material.dispose(),this.line.geometry.dispose()),void 0!==this.cone&&(this.cone.material.dispose(),this.cone.geometry.dispose())},ROS3D.Axes=function(a){function b(a){var b=new THREE.Color;b.setRGB(a.x,a.y,a.z);var d=new THREE.MeshBasicMaterial({color:b.getHex()}),e=new THREE.Vector3;e.crossVectors(a,new THREE.Vector3(0,-1,0));var f=new THREE.Quaternion;f.setFromAxisAngle(e,.5*Math.PI);var g=new THREE.Mesh(c.headGeom,d);g.position.copy(a),g.position.multiplyScalar(.95),g.quaternion.copy(f),g.updateMatrix(),c.add(g);var h=new THREE.Mesh(c.lineGeom,d);h.position.copy(a),h.position.multiplyScalar(.45),h.quaternion.copy(f),h.updateMatrix(),c.add(h)}var c=this;a=a||{};var d=a.shaftRadius||.008,e=a.headRadius||.023,f=a.headLength||.1;THREE.Object3D.call(this),this.lineGeom=new THREE.CylinderGeometry(d,d,1-f),this.headGeom=new THREE.CylinderGeometry(0,e,f),b(new THREE.Vector3(1,0,0)),b(new THREE.Vector3(0,1,0)),b(new THREE.Vector3(0,0,1))},ROS3D.Axes.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Grid=function(a){a=a||{};var b=a.num_cells||10,c=a.color||"#cccccc",d=a.lineWidth||1,e=a.cellSize||1;THREE.Object3D.call(this);for(var f=new THREE.LineBasicMaterial({color:c,linewidth:d}),g=0;g<=b;++g){var h=e*b/2,i=h-g*e,j=new THREE.Geometry;j.vertices.push(new THREE.Vector3(-h,i,0),new THREE.Vector3(h,i,0));var k=new THREE.Geometry;k.vertices.push(new THREE.Vector3(i,-h,0),new THREE.Vector3(i,h,0)),this.add(new THREE.Line(j,f)),this.add(new THREE.Line(k,f))}},ROS3D.Grid.prototype.__proto__=THREE.Object3D.prototype,ROS3D.MeshResource=function(a){var b=this;a=a||{};var c=a.path||"/",d=a.resource,e=a.material||null;this.warnings=a.warnings,THREE.Object3D.call(this),"/"!==c.substr(c.length-1)&&(c+="/");var f,g=c+d,h=g.substr(-4).toLowerCase();".dae"===h?(f=new THREE.ColladaLoader,f.log=function(a){b.warnings&&console.warn(a)},f.load(g,function(a){null!==e&&a.scene.traverse(function(a){a instanceof THREE.Mesh&&void 0===a.material&&(a.material=e)}),b.add(a.scene)},null,function(a){console.error(a)})):".stl"===h&&(f=new THREE.STLLoader,f.load(g,function(a){a.computeFaceNormals();var c;c=null!==e?new THREE.Mesh(a,e):new THREE.Mesh(a,new THREE.MeshBasicMaterial({color:10066329})),b.add(c)},null,function(a){console.error(a)}))},ROS3D.MeshResource.prototype.__proto__=THREE.Object3D.prototype,ROS3D.TriangleList=function(a){a=a||{};var b=a.material||new THREE.MeshBasicMaterial,c=a.vertices,d=a.colors;THREE.Object3D.call(this),b.side=THREE.DoubleSide;var e=new THREE.Geometry;for(f=0;f<c.length;f++)e.vertices.push(new THREE.Vector3(c[f].x,c[f].y,c[f].z));var f,g;if(d.length===c.length){for(f=0;f<c.length;f+=3){var h=new THREE.Face3(f,f+1,f+2);for(g=3*f;g<3*f+3;f++){var i=new THREE.Color;i.setRGB(d[f].r,d[f].g,d[f].b),h.vertexColors.push(i)}e.faces.push(h)}b.vertexColors=THREE.VertexColors}else if(d.length===c.length/3){for(f=0;f<c.length;f+=3){var j=new THREE.Face3(f,f+1,f+2);j.color.setRGB(d[f/3].r,d[f/3].g,d[f/3].b),e.faces.push(j)}b.vertexColors=THREE.FaceColors}else for(f=0;f<c.length;f+=3){var k=new THREE.Face3(f,f+1,f+2);e.faces.push(k)}e.computeBoundingBox(),e.computeBoundingSphere(),e.computeFaceNormals(),this.add(new THREE.Mesh(e,b))},ROS3D.TriangleList.prototype.__proto__=THREE.Object3D.prototype,ROS3D.TriangleList.prototype.setColor=function(a){this.mesh.material.color.setHex(a)},ROS3D.OccupancyGrid=function(a){a=a||{};var b=a.message,c=a.color||{r:255,g:255,b:255},d=a.opacity||1,e=b.info.width,f=b.info.height,g=new THREE.PlaneGeometry(e,f),h=document.createElement("canvas");h.width=e,h.height=f;for(var i=h.getContext("2d"),j=i.createImageData(e,f),k=0;k<f;k++)for(var l=0;l<e;l++){var m,n=l+(f-k-1)*e,o=b.data[n];m=100===o?0:0===o?255:127;var p=4*(l+k*e);j.data[p]=m*c.r/255,j.data[++p]=m*c.g/255,j.data[++p]=m*c.b/255,j.data[++p]=255}i.putImageData(j,0,0);var q=new THREE.Texture(h);q.needsUpdate=!0;var r=new THREE.MeshBasicMaterial({map:q,transparent:d<1,opacity:d});r.side=THREE.DoubleSide,THREE.Mesh.call(this,g,r),this.quaternion=new THREE.Quaternion(b.info.origin.orientation.x,b.info.origin.orientation.y,b.info.origin.orientation.z,b.info.origin.orientation.w),this.position.x=e*b.info.resolution/2+b.info.origin.position.x,this.position.y=f*b.info.resolution/2+b.info.origin.position.y,this.position.z=b.info.origin.position.z,this.scale.x=b.info.resolution,this.scale.y=b.info.resolution},ROS3D.OccupancyGrid.prototype.__proto__=THREE.Mesh.prototype,ROS3D.OccupancyGridClient=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic||"/map",this.continuous=a.continuous,this.tfClient=a.tfClient,this.rootObject=a.rootObject||new THREE.Object3D,this.offsetPose=a.offsetPose||new ROSLIB.Pose,this.color=a.color||{r:255,g:255,b:255},this.opacity=a.opacity||1,this.currentGrid=null,this.rosTopic=void 0,this.subscribe()},ROS3D.OccupancyGridClient.prototype.__proto__=EventEmitter2.prototype,ROS3D.OccupancyGridClient.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.OccupancyGridClient.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"nav_msgs/OccupancyGrid",compression:"png"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.OccupancyGridClient.prototype.processMessage=function(a){this.currentGrid&&(this.currentGrid.tfClient&&this.currentGrid.unsubscribeTf(),this.rootObject.remove(this.currentGrid));var b=new ROS3D.OccupancyGrid({message:a,color:this.color,opacity:this.opacity});this.tfClient?(this.currentGrid=b,this.sceneNode=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:b,pose:this.offsetPose})):this.sceneNode=this.currentGrid=b,this.rootObject.add(this.sceneNode),this.emit("change"),this.continuous||this.rosTopic.unsubscribe()},ROS3D.Odometry=function(a){this.options=a||{},this.ros=a.ros,this.topicName=a.topic||"/particlecloud",this.tfClient=a.tfClient,this.color=a.color||13369599,this.length=a.length||1,this.rootObject=a.rootObject||new THREE.Object3D,this.keep=a.keep||1,THREE.Object3D.call(this),this.sns=[],this.rosTopic=void 0,this.subscribe()},ROS3D.Odometry.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Odometry.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.Odometry.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"nav_msgs/Odometry"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.Odometry.prototype.processMessage=function(a){this.sns.length>=this.keep&&(this.sns[0].unsubscribeTf(),this.rootObject.remove(this.sns[0]),this.sns.shift()),this.options.origin=new THREE.Vector3(a.pose.pose.position.x,a.pose.pose.position.y,a.pose.pose.position.z);var b=new THREE.Quaternion(a.pose.pose.orientation.x,a.pose.pose.orientation.y,a.pose.pose.orientation.z,a.pose.pose.orientation.w);this.options.direction=new THREE.Vector3(1,0,0),this.options.direction.applyQuaternion(b),this.options.material=new THREE.MeshBasicMaterial({color:this.color});var c=new ROS3D.Arrow(this.options);this.sns.push(new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:c})),this.rootObject.add(this.sns[this.sns.length-1])},ROS3D.Path=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic||"/path",this.tfClient=a.tfClient,this.color=a.color||13369599,this.rootObject=a.rootObject||new THREE.Object3D,THREE.Object3D.call(this),this.sn=null,this.line=null,this.rosTopic=void 0,this.subscribe()},ROS3D.Path.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Path.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.Path.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"nav_msgs/Path"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.Path.prototype.processMessage=function(a){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var b=new THREE.Geometry,c=0;c<a.poses.length;c++){var d=new THREE.Vector3(a.poses[c].pose.position.x,a.poses[c].pose.position.y,a.poses[c].pose.position.z);b.vertices.push(d)}b.computeLineDistances();var e=new THREE.LineBasicMaterial({color:this.color}),f=new THREE.Line(b,e);this.sn=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:f}),this.rootObject.add(this.sn)},ROS3D.Point=function(a){this.options=a||{},this.ros=a.ros,this.topicName=a.topic||"/point",this.tfClient=a.tfClient,this.color=a.color||13369599,this.rootObject=a.rootObject||new THREE.Object3D,this.radius=a.radius||.2,THREE.Object3D.call(this),this.sn=null,this.rosTopic=void 0,this.subscribe()},ROS3D.Point.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Point.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.Point.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"geometry_msgs/PointStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.Point.prototype.processMessage=function(a){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));var b=new THREE.SphereGeometry(this.radius),c=new THREE.MeshBasicMaterial({color:this.color}),d=new THREE.Mesh(b,c);d.position.set(a.point.x,a.point.y,a.point.z),this.sn=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:d}),this.rootObject.add(this.sn)},ROS3D.Polygon=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic||"/path",this.tfClient=a.tfClient,this.color=a.color||13369599,this.rootObject=a.rootObject||new THREE.Object3D,THREE.Object3D.call(this),this.sn=null,this.line=null,this.rosTopic=void 0,this.subscribe()},ROS3D.Polygon.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Polygon.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.Polygon.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"geometry_msgs/PolygonStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.Polygon.prototype.processMessage=function(a){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var b,c=new THREE.Geometry,d=0;d<a.polygon.points.length;d++)b=new THREE.Vector3(a.polygon.points[d].x,a.polygon.points[d].y,a.polygon.points[d].z),c.vertices.push(b);b=new THREE.Vector3(a.polygon.points[0].x,a.polygon.points[0].y,a.polygon.points[0].z),c.vertices.push(b),c.computeLineDistances();var e=new THREE.LineBasicMaterial({color:this.color}),f=new THREE.Line(c,e);this.sn=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:f}),this.rootObject.add(this.sn)},ROS3D.Pose=function(a){this.options=a||{},this.ros=a.ros,this.topicName=a.topic||"/pose",this.tfClient=a.tfClient,this.color=a.color||13369599,this.rootObject=a.rootObject||new THREE.Object3D,THREE.Object3D.call(this),this.sn=null,this.rosTopic=void 0,this.subscribe()},ROS3D.Pose.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Pose.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.Pose.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"geometry_msgs/PoseStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.Pose.prototype.processMessage=function(a){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn)),this.options.origin=new THREE.Vector3(a.pose.position.x,a.pose.position.y,a.pose.position.z);var b=new THREE.Quaternion(a.pose.orientation.x,a.pose.orientation.y,a.pose.orientation.z,a.pose.orientation.w);this.options.direction=new THREE.Vector3(1,0,0),this.options.direction.applyQuaternion(b),this.options.material=new THREE.MeshBasicMaterial({color:this.color});var c=new ROS3D.Arrow(this.options);this.sn=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:c}),this.rootObject.add(this.sn)},ROS3D.PoseArray=function(a){this.options=a||{},this.ros=a.ros,this.topicName=a.topic||"/particlecloud",this.tfClient=a.tfClient,this.color=a.color||13369599,this.length=a.length||1,this.rootObject=a.rootObject||new THREE.Object3D,THREE.Object3D.call(this),this.sn=null,this.rosTopic=void 0,this.subscribe()},ROS3D.PoseArray.prototype.__proto__=THREE.Object3D.prototype,ROS3D.PoseArray.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.PoseArray.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"geometry_msgs/PoseArray"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.PoseArray.prototype.processMessage=function(a){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var b,c=new THREE.Object3D,d=0;d<a.poses.length;d++){var e=new THREE.Geometry,f=new THREE.Vector3(a.poses[d].position.x,a.poses[d].position.y,a.poses[d].position.z);e.vertices.push(f);var g=new THREE.Quaternion(a.poses[d].orientation.x,a.poses[d].orientation.y,a.poses[d].orientation.z,a.poses[d].orientation.w),h=new THREE.Vector3(this.length,0,0),i=new THREE.Vector3(.8*this.length,.2*this.length,0),j=new THREE.Vector3(.8*this.length,.2*-this.length,0);h.applyQuaternion(g),i.applyQuaternion(g),j.applyQuaternion(g),e.vertices.push(h.add(f)),e.vertices.push(i.add(f)),e.vertices.push(j.add(f)),e.vertices.push(h),e.computeLineDistances();var k=new THREE.LineBasicMaterial({color:this.color});b=new THREE.Line(e,k),c.add(b)}this.sn=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:c}),this.rootObject.add(this.sn)},ROS3D.PoseWithCovariance=function(a){this.options=a||{},this.ros=a.ros,this.topicName=a.topic||"/PoseWithCovariance",this.tfClient=a.tfClient,this.color=a.color||13369599,this.rootObject=a.rootObject||new THREE.Object3D,THREE.Object3D.call(this),this.sn=null,this.rosTopic=void 0,this.subscribe()},ROS3D.PoseWithCovariance.prototype.__proto__=THREE.Object3D.prototype,ROS3D.PoseWithCovariance.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.PoseWithCovariance.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"geometry_msgs/PoseWithCovarianceStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.PoseWithCovariance.prototype.processMessage=function(a){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn)),this.options.origin=new THREE.Vector3(a.pose.pose.position.x,a.pose.pose.position.y,a.pose.pose.position.z);var b=new THREE.Quaternion(a.pose.pose.orientation.x,a.pose.pose.orientation.y,a.pose.pose.orientation.z,a.pose.pose.orientation.w);this.options.direction=new THREE.Vector3(1,0,0),this.options.direction.applyQuaternion(b),this.options.material=new THREE.MeshBasicMaterial({color:this.color});var c=new ROS3D.Arrow(this.options);this.sn=new ROS3D.SceneNode({frameID:a.header.frame_id,tfClient:this.tfClient,object:c}),this.rootObject.add(this.sn)},ROS3D.LaserScan=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic||"/scan",this.color=a.color||16753920,this.particles=new ROS3D.Particles(a),this.rosTopic=void 0,this.subscribe()},ROS3D.LaserScan.prototype.__proto__=THREE.Object3D.prototype,ROS3D.LaserScan.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.LaserScan.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"sensor_msgs/LaserScan"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.LaserScan.prototype.processMessage=function(a){setFrame(this.particles,a.header.frame_id);for(var b=a.ranges.length,c=0;c<b;c++){var d=a.ranges[c];if(d<a.range_min||d>a.range_max)this.particles.alpha[c]=0;else{var e=a.angle_min+c*a.angle_increment;this.particles.points[c]=new THREE.Vector3(d*Math.cos(e),d*Math.sin(e),0),this.particles.alpha[c]=1}this.particles.colors[c]=new THREE.Color(this.color)}finishedUpdate(this.particles,b)},ROS3D.Particles=function(a){a=a||{},this.tfClient=a.tfClient;var b=a.texture||"https://upload.wikimedia.org/wikipedia/commons/a/a2/Pixel-white.png",c=a.size||.05;this.max_pts=a.max_pts||1e4,this.first_size=null,this.prev_pts=0,this.rootObject=a.rootObject||new THREE.Object3D;THREE.Object3D.call(this),this.vertex_shader=["attribute vec3 customColor;","attribute float alpha;","varying vec3 vColor;","varying float falpha;","void main() ","{","    vColor = customColor; // set color associated to vertex; use later in fragment shader","    vec4 mvPosition = modelViewMatrix * vec4( position, 1.0 );","    falpha = alpha; ","","    // option (1): draw particles at constant size on screen","    // gl_PointSize = size;","    // option (2): scale particles as objects in 3D space","    gl_PointSize = ",c,"* ( 300.0 / length( mvPosition.xyz ) );","    gl_Position = projectionMatrix * mvPosition;","}"].join("\n"),this.fragment_shader=["uniform sampler2D texture;","varying vec3 vColor; // colors associated to vertices; assigned by vertex shader","varying float falpha;","void main() ","{","    // THREE.Material.alphaTest is not evaluated for ShaderMaterial, so we","    // have to take care of this ourselves.","    if (falpha < 0.5) discard;","    // calculates a color for the particle","    gl_FragColor = vec4( vColor, falpha );","    // sets particle texture to desired color","    gl_FragColor = gl_FragColor * texture2D( texture, gl_PointCoord );","}"].join("\n"),this.geom=new THREE.Geometry;for(var d=0;d<this.max_pts;d++)this.geom.vertices.push(new THREE.Vector3);var e={texture:{type:"t",value:THREE.ImageUtils.loadTexture(b)}};this.attribs={customColor:{type:"c",value:[]},alpha:{type:"f",value:[]}},this.shaderMaterial=new THREE.ShaderMaterial({uniforms:e,attributes:this.attribs,vertexShader:this.vertex_shader,fragmentShader:this.fragment_shader,transparent:!0}),this.ps=new THREE.ParticleSystem(this.geom,this.shaderMaterial),this.sn=null,this.points=this.geom.vertices,this.colors=this.attribs.customColor.value,this.alpha=this.attribs.alpha.value};var BASE64="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/=";ROS3D.PointCloud2=function(a){a=a||{},this.ros=a.ros,this.topicName=a.topic||"/points",this.color=a.color,this.particles=new ROS3D.Particles(a),this.rosTopic=void 0,this.subscribe()},ROS3D.PointCloud2.prototype.__proto__=THREE.Object3D.prototype,ROS3D.PointCloud2.prototype.unsubscribe=function(){this.rosTopic&&this.rosTopic.unsubscribe()},ROS3D.PointCloud2.prototype.subscribe=function(){this.unsubscribe(),this.rosTopic=new ROSLIB.Topic({ros:this.ros,name:this.topicName,messageType:"sensor_msgs/PointCloud2"}),this.rosTopic.subscribe(this.processMessage.bind(this))},ROS3D.PointCloud2.prototype.processMessage=function(a){setFrame(this.particles,a.header.frame_id);var b,c=a.height*a.width;b=a.data.buffer?a.data.buffer.buffer:Uint8Array.from(decode64(a.data)).buffer;var d,e=new DataView(b);void 0!==this.color&&(d=new THREE.Color(this.color));for(var f=0;f<c;f++){var g=read_point(a,f,e);this.particles.points[f]=new THREE.Vector3(g.x,g.y,g.z),this.particles.colors[f]=d||new THREE.Color(g.rgb),this.particles.alpha[f]=1}finishedUpdate(this.particles,c)},ROS3D.Urdf=function(a){a=a||{};var b=a.urdfModel,c=a.path||"/",d=a.tfClient,e=a.tfPrefix||"",f=a.loader||ROS3D.COLLADA_LOADER_2;THREE.Object3D.call(this);var g=b.links;for(var h in g)for(var i=g[h],j=0;j<i.visuals.length;j++){var k=i.visuals[j];if(k&&k.geometry){var l=e+"/"+i.name,m=null;if(k.material&&k.material.color){var n=k.material&&k.material.color;m=ROS3D.makeColorMaterial(n.r,n.g,n.b,n.a)}if(k.geometry.type===ROSLIB.URDF_MESH){var o=k.geometry.filename,p=o.indexOf("package://");-1!==p&&(o=o.substr(p+"package://".length));var q=o.substr(-4).toLowerCase();if(".dae"===q||".stl"===q){var r=new ROS3D.MeshResource({path:c,resource:o,loader:f,material:m});i.visuals[j].geometry.scale&&r.scale.copy(k.geometry.scale);var s=new ROS3D.SceneNode({frameID:l,pose:k.origin,tfClient:d,object:r});this.add(s)}else console.warn("Could not load geometry mesh: "+o)}else{m||(m=ROS3D.makeColorMaterial(0,0,0,1));var t;switch(k.geometry.type){case ROSLIB.URDF_BOX:var u=k.geometry.dimension,v=new THREE.BoxGeometry(u.x,u.y,u.z);t=new THREE.Mesh(v,m);break;case ROSLIB.URDF_CYLINDER:var w=k.geometry.radius,x=k.geometry.length,y=new THREE.CylinderGeometry(w,w,x,16,1,!1);t=new THREE.Mesh(y,m),t.quaternion.setFromAxisAngle(new THREE.Vector3(1,0,0),.5*Math.PI);break;case ROSLIB.URDF_SPHERE:var z=new THREE.SphereGeometry(k.geometry.radius,16);t=new THREE.Mesh(z,m)}var A=new ROS3D.SceneNode({frameID:l,pose:k.origin,tfClient:d,object:t});this.add(A)}}}},ROS3D.Urdf.prototype.__proto__=THREE.Object3D.prototype,ROS3D.Urdf.prototype.unsubscribeTf=function(){this.children.forEach(function(a){"function"==typeof a.unsubscribeTf&&a.unsubscribeTf()})},ROS3D.UrdfClient=function(a){var b=this;a=a||{};var c=a.ros;this.param=a.param||"robot_description",this.path=a.path||"/",this.tfClient=a.tfClient,this.rootObject=a.rootObject||new THREE.Object3D,this.tfPrefix=a.tfPrefix||"",this.loader=a.loader||ROS3D.COLLADA_LOADER_2,new ROSLIB.Param({ros:c,name:this.param}).get(function(a){var c=new ROSLIB.UrdfModel({string:a});b.urdf=new ROS3D.Urdf({urdfModel:c,path:b.path,tfClient:b.tfClient,tfPrefix:b.tfPrefix,loader:b.loader}),b.rootObject.add(b.urdf)})},ROS3D.Highlighter=function(a){a=a||{},this.mouseHandler=a.mouseHandler,this.hoverObjs={},this.mouseHandler.addEventListener("mouseover",this.onMouseOver.bind(this)),this.mouseHandler.addEventListener("mouseout",this.onMouseOut.bind(this))},ROS3D.Highlighter.prototype.onMouseOver=function(a){this.hoverObjs[a.currentTarget.uuid]=a.currentTarget},ROS3D.Highlighter.prototype.onMouseOut=function(a){var b=a.currentTarget.uuid;b in this.hoverObjs&&delete this.hoverObjs[b]},ROS3D.Highlighter.prototype.renderHighlights=function(a,b,c){this.makeEverythingInvisible(a),this.makeHighlightedVisible(a);var d=a.overrideMaterial;a.overrideMaterial=new THREE.MeshBasicMaterial({fog:!1,opacity:.5,transparent:!0,depthTest:!0,depthWrite:!1,polygonOffset:!0,polygonOffsetUnits:-1,side:THREE.DoubleSide}),b.render(a,c),a.overrideMaterial=d,this.restoreVisibility(a)},ROS3D.Highlighter.prototype.makeEverythingInvisible=function(a){a.traverse(function(a){(a instanceof THREE.Mesh||a instanceof THREE.Line||a instanceof THREE.Sprite)&&(a.previousVisibility=a.visible,a.visible=!1)})},ROS3D.Highlighter.prototype.makeHighlightedVisible=function(a){var b=function(a){(a instanceof THREE.Mesh||a instanceof THREE.Line||a instanceof THREE.Sprite)&&(a.visible=!0)};for(var c in this.hoverObjs){var d=this.hoverObjs[c];d.visible=!0,d.traverse(b)}},ROS3D.Highlighter.prototype.restoreVisibility=function(a){a.traverse(function(a){a.hasOwnProperty("previousVisibility")&&(a.visible=a.previousVisibility)}.bind(this))},ROS3D.MouseHandler=function(a){THREE.EventDispatcher.call(this),this.renderer=a.renderer,this.camera=a.camera,this.rootObject=a.rootObject,this.fallbackTarget=a.fallbackTarget,this.lastTarget=this.fallbackTarget,this.dragging=!1;var b=["contextmenu","click","dblclick","mouseout","mousedown","mouseup","mousemove","mousewheel","DOMMouseScroll","touchstart","touchend","touchcancel","touchleave","touchmove"];this.listeners={},b.forEach(function(a){this.listeners[a]=this.processDomEvent.bind(this),this.renderer.domElement.addEventListener(a,this.listeners[a],!1)},this)},ROS3D.MouseHandler.prototype.processDomEvent=function(a){a.preventDefault();var b,c,d=a.target,e=d.getBoundingClientRect();if(-1!==a.type.indexOf("touch")){b=0,c=0;for(var f=0;f<a.touches.length;++f)b+=a.touches[f].clientX,c+=a.touches[f].clientY;b/=a.touches.length,c/=a.touches.length}else b=a.clientX,c=a.clientY;var g=b-e.left-d.clientLeft+d.scrollLeft,h=c-e.top-d.clientTop+d.scrollTop,i=g/d.clientWidth*2-1,j=-h/d.clientHeight*2+1,k=new THREE.Vector3(i,j,.5);k.unproject(this.camera);var l=new THREE.Raycaster(this.camera.position.clone(),k.sub(this.camera.position).normalize());l.linePrecision=.001;var m=l.ray,n={mousePos:new THREE.Vector2(i,j),mouseRay:m,domEvent:a,camera:this.camera,intersection:this.lastIntersection};if("mouseout"===a.type)return this.dragging&&(this.notify(this.lastTarget,"mouseup",n),this.dragging=!1),this.notify(this.lastTarget,"mouseout",n),void(this.lastTarget=null);if("touchleave"===a.type||"touchend"===a.type)return this.dragging&&(this.notify(this.lastTarget,"mouseup",n),this.dragging=!1),this.notify(this.lastTarget,"touchend",n),void(this.lastTarget=null);if(this.dragging)return this.notify(this.lastTarget,a.type,n),void(("mouseup"===a.type&&2===a.button||"click"===a.type||"touchend"===a.type)&&(this.dragging=!1));d=this.lastTarget;var o=[];if(o=l.intersectObject(this.rootObject,!0),o.length>0?(d=o[0].object,n.intersection=this.lastIntersection=o[0]):d=this.fallbackTarget,d!==this.lastTarget&&a.type.match(/mouse/)){var p=this.notify(d,"mouseover",n);0===p?this.notify(this.lastTarget,"mouseout",n):1===p&&(d=this.fallbackTarget)!==this.lastTarget&&(this.notify(d,"mouseover",n),this.notify(this.lastTarget,"mouseout",n))}if(d!==this.lastTarget&&a.type.match(/touch/)){this.notify(d,a.type,n)?(this.notify(this.lastTarget,"touchleave",n),this.notify(this.lastTarget,"touchend",n)):(d=this.fallbackTarget)!==this.lastTarget&&(this.notify(this.lastTarget,"touchmove",n),this.notify(this.lastTarget,"touchend",n))}this.notify(d,a.type,n),"mousedown"!==a.type&&"touchstart"!==a.type&&"touchmove"!==a.type||(this.dragging=!0),
+this.lastTarget=d},ROS3D.MouseHandler.prototype.notify=function(a,b,c){for(c.type=b,c.cancelBubble=!1,c.continueBubble=!1,c.stopPropagation=function(){c.cancelBubble=!0},c.continuePropagation=function(){c.continueBubble=!0},c.currentTarget=a;c.currentTarget;){if(c.currentTarget.dispatchEvent&&c.currentTarget.dispatchEvent instanceof Function){if(c.currentTarget.dispatchEvent(c),c.cancelBubble)return this.dispatchEvent(c),0;if(c.continueBubble)return 2}c.currentTarget=c.currentTarget.parent}return 1},Object.assign(ROS3D.MouseHandler.prototype,THREE.EventDispatcher.prototype),ROS3D.OrbitControls=function(a){function b(a){var b=a.domEvent;switch(b.preventDefault(),b.button){case 0:A=z.ROTATE,n.set(b.clientX,b.clientY);break;case 1:A=z.MOVE,u=new THREE.Vector3(0,0,1);var c=(new THREE.Matrix4).extractRotation(this.camera.matrix);u.applyMatrix4(c),t=j.center.clone(),v=j.camera.position.clone(),w=d(a.mouseRay,t,u);break;case 2:A=z.ZOOM,q.set(b.clientX,b.clientY)}this.showAxes()}function c(a){var b=a.domEvent;if(A===z.ROTATE)o.set(b.clientX,b.clientY),p.subVectors(o,n),j.rotateLeft(2*Math.PI*p.x/l*j.userRotateSpeed),j.rotateUp(2*Math.PI*p.y/l*j.userRotateSpeed),n.copy(o),this.showAxes();else if(A===z.ZOOM)r.set(b.clientX,b.clientY),s.subVectors(r,q),s.y>0?j.zoomIn():j.zoomOut(),q.copy(r),this.showAxes();else if(A===z.MOVE){var c=d(a.mouseRay,j.center,u);if(!c)return;var e=(new THREE.Vector3).subVectors(w.clone(),c.clone());j.center.addVectors(t.clone(),e.clone()),j.camera.position.addVectors(v.clone(),e.clone()),j.update(),j.camera.updateMatrixWorld(),this.showAxes()}}function d(a,b,c){var d=new THREE.Vector3;new THREE.Vector3;d.subVectors(b,a.origin);var e=a.direction.dot(c);if(Math.abs(e)<a.precision)return null;var f=c.dot(d)/e;return a.direction.clone().multiplyScalar(f)}function e(a){j.userRotate&&(A=z.NONE)}function f(a){if(j.userZoom){var b,c=a.domEvent;b=void 0!==c.wheelDelta?c.wheelDelta:-c.detail,b>0?j.zoomIn():j.zoomOut(),this.showAxes()}}function g(a){var b=a.domEvent;switch(b.touches.length){case 1:A=z.ROTATE,n.set(b.touches[0].pageX-window.scrollX,b.touches[0].pageY-window.scrollY);break;case 2:A=z.NONE,u=new THREE.Vector3(0,0,1);var c=(new THREE.Matrix4).extractRotation(this.camera.matrix);u.applyMatrix4(c),t=j.center.clone(),v=j.camera.position.clone(),w=d(a.mouseRay,t,u),x[0]=new THREE.Vector2(b.touches[0].pageX,b.touches[0].pageY),x[1]=new THREE.Vector2(b.touches[1].pageX,b.touches[1].pageY),y[0]=new THREE.Vector2(0,0),y[1]=new THREE.Vector2(0,0)}this.showAxes(),b.preventDefault()}function h(a){var b=a.domEvent;if(A===z.ROTATE)o.set(b.touches[0].pageX-window.scrollX,b.touches[0].pageY-window.scrollY),p.subVectors(o,n),j.rotateLeft(2*Math.PI*p.x/l*j.userRotateSpeed),j.rotateUp(2*Math.PI*p.y/l*j.userRotateSpeed),n.copy(o),this.showAxes();else{if(y[0].set(x[0].x-b.touches[0].pageX,x[0].y-b.touches[0].pageY),y[1].set(x[1].x-b.touches[1].pageX,x[1].y-b.touches[1].pageY),y[0].lengthSq()>m&&y[1].lengthSq()>m&&(x[0].set(b.touches[0].pageX,b.touches[0].pageY),x[1].set(b.touches[1].pageX,b.touches[1].pageY),y[0].dot(y[1])>0&&A!==z.ZOOM?A=z.MOVE:y[0].dot(y[1])<0&&A!==z.MOVE&&(A=z.ZOOM),A===z.ZOOM)){var c=new THREE.Vector2;c.subVectors(x[0],x[1]),y[0].dot(c)<0&&y[1].dot(c)>0?j.zoomOut():y[0].dot(c)>0&&y[1].dot(c)<0&&j.zoomIn()}if(A===z.MOVE){var e=d(a.mouseRay,j.center,u);if(!e)return;var f=(new THREE.Vector3).subVectors(w.clone(),e.clone());j.center.addVectors(t.clone(),f.clone()),j.camera.position.addVectors(v.clone(),f.clone()),j.update(),j.camera.updateMatrixWorld()}this.showAxes(),b.preventDefault()}}function i(a){var b=a.domEvent;1===b.touches.length&&A!==z.ROTATE?(A=z.ROTATE,n.set(b.touches[0].pageX-window.scrollX,b.touches[0].pageY-window.scrollY)):A=z.NONE}THREE.EventDispatcher.call(this);var j=this;a=a||{};var k=a.scene;this.camera=a.camera,this.center=new THREE.Vector3,this.userZoom=!0,this.userZoomSpeed=a.userZoomSpeed||1,this.userRotate=!0,this.userRotateSpeed=a.userRotateSpeed||1,this.autoRotate=a.autoRotate,this.autoRotateSpeed=a.autoRotateSpeed||2,this.camera.up=new THREE.Vector3(0,0,1);var l=1800,m=10,n=new THREE.Vector2,o=new THREE.Vector2,p=new THREE.Vector2,q=new THREE.Vector2,r=new THREE.Vector2,s=new THREE.Vector2,t=new THREE.Vector3,u=new THREE.Vector3,v=new THREE.Vector3,w=new THREE.Vector3,x=new Array(2),y=new Array(2);this.phiDelta=0,this.thetaDelta=0,this.scale=1,this.lastPosition=new THREE.Vector3;var z={NONE:-1,ROTATE:0,ZOOM:1,MOVE:2},A=z.NONE;this.axes=new ROS3D.Axes({shaftRadius:.025,headRadius:.07,headLength:.2}),k.add(this.axes),this.axes.traverse(function(a){a.visible=!1}),this.addEventListener("mousedown",b),this.addEventListener("mouseup",e),this.addEventListener("mousemove",c),this.addEventListener("touchstart",g),this.addEventListener("touchmove",h),this.addEventListener("touchend",i),this.addEventListener("mousewheel",f),this.addEventListener("DOMMouseScroll",f)},ROS3D.OrbitControls.prototype.showAxes=function(){var a=this;this.axes.traverse(function(a){a.visible=!0}),this.hideTimeout&&clearTimeout(this.hideTimeout),this.hideTimeout=setTimeout(function(){a.axes.traverse(function(a){a.visible=!1}),a.hideTimeout=!1},1e3)},ROS3D.OrbitControls.prototype.rotateLeft=function(a){void 0===a&&(a=2*Math.PI/60/60*this.autoRotateSpeed),this.thetaDelta-=a},ROS3D.OrbitControls.prototype.rotateRight=function(a){void 0===a&&(a=2*Math.PI/60/60*this.autoRotateSpeed),this.thetaDelta+=a},ROS3D.OrbitControls.prototype.rotateUp=function(a){void 0===a&&(a=2*Math.PI/60/60*this.autoRotateSpeed),this.phiDelta-=a},ROS3D.OrbitControls.prototype.rotateDown=function(a){void 0===a&&(a=2*Math.PI/60/60*this.autoRotateSpeed),this.phiDelta+=a},ROS3D.OrbitControls.prototype.zoomIn=function(a){void 0===a&&(a=Math.pow(.95,this.userZoomSpeed)),this.scale/=a},ROS3D.OrbitControls.prototype.zoomOut=function(a){void 0===a&&(a=Math.pow(.95,this.userZoomSpeed)),this.scale*=a},ROS3D.OrbitControls.prototype.update=function(){var a=this.camera.position,b=a.clone().sub(this.center),c=Math.atan2(b.y,b.x),d=Math.atan2(Math.sqrt(b.y*b.y+b.x*b.x),b.z);this.autoRotate&&this.rotateLeft(2*Math.PI/60/60*this.autoRotateSpeed),c+=this.thetaDelta,d+=this.phiDelta;d=Math.max(1e-6,Math.min(Math.PI-1e-6,d));var e=b.length();b.set(e*Math.sin(d)*Math.cos(c),e*Math.sin(d)*Math.sin(c),e*Math.cos(d)),b.multiplyScalar(this.scale),a.copy(this.center).add(b),this.camera.lookAt(this.center),e=b.length(),this.axes.position.copy(this.center),this.axes.scale.set(.05*e,.05*e,.05*e),this.axes.updateMatrixWorld(!0),this.thetaDelta=0,this.phiDelta=0,this.scale=1,this.lastPosition.distanceTo(this.camera.position)>0&&(this.dispatchEvent({type:"change"}),this.lastPosition.copy(this.camera.position))},Object.assign(ROS3D.OrbitControls.prototype,THREE.EventDispatcher.prototype),ROS3D.SceneNode=function(a){a=a||{};var b=this;this.tfClient=a.tfClient,this.frameID=a.frameID;var c=a.object;this.pose=a.pose||new ROSLIB.Pose,THREE.Object3D.call(this),this.visible=!1,this.add(c),this.updatePose(this.pose),this.tfUpdate=function(a){var c=new ROSLIB.Transform(a),d=new ROSLIB.Pose(b.pose);d.applyTransform(c),b.updatePose(d),b.visible=!0},this.tfClient.subscribe(this.frameID,this.tfUpdate)},ROS3D.SceneNode.prototype.__proto__=THREE.Object3D.prototype,ROS3D.SceneNode.prototype.updatePose=function(a){this.position.set(a.position.x,a.position.y,a.position.z),this.quaternion.set(a.orientation.x,a.orientation.y,a.orientation.z,a.orientation.w),this.updateMatrixWorld(!0)},ROS3D.SceneNode.prototype.unsubscribeTf=function(){this.tfClient.unsubscribe(this.frameID,this.tfUpdate)},ROS3D.Viewer=function(a){a=a||{};var b=a.divID,c=a.width,d=a.height,e=a.background||"#111111",f=a.antialias,g=a.intensity||.66,h=a.near||.01,i=a.far||1e3,j=a.alpha||1,k=a.cameraPose||{x:3,y:3,z:3},l=a.cameraZoomSpeed||.5;this.renderer=new THREE.WebGLRenderer({antialias:f,alpha:!0}),this.renderer.setClearColor(parseInt(e.replace("#","0x"),16),j),this.renderer.sortObjects=!1,this.renderer.setSize(c,d),this.renderer.shadowMap.enabled=!1,this.renderer.autoClear=!1,this.scene=new THREE.Scene,this.camera=new THREE.PerspectiveCamera(40,c/d,h,i),this.camera.position.x=k.x,this.camera.position.y=k.y,this.camera.position.z=k.z,this.cameraControls=new ROS3D.OrbitControls({scene:this.scene,camera:this.camera}),this.cameraControls.userZoomSpeed=l,this.scene.add(new THREE.AmbientLight(5592405)),this.directionalLight=new THREE.DirectionalLight(16777215,g),this.scene.add(this.directionalLight),this.selectableObjects=new THREE.Object3D,this.scene.add(this.selectableObjects);var m=new ROS3D.MouseHandler({renderer:this.renderer,camera:this.camera,rootObject:this.selectableObjects,fallbackTarget:this.cameraControls});this.highlighter=new ROS3D.Highlighter({mouseHandler:m}),this.stopped=!0,this.animationRequestId=void 0,document.getElementById(b).appendChild(this.renderer.domElement),this.start()},ROS3D.Viewer.prototype.start=function(){this.stopped=!1,this.draw()},ROS3D.Viewer.prototype.draw=function(){this.stopped||(this.cameraControls.update(),this.directionalLight.position=this.camera.localToWorld(new THREE.Vector3(-1,1,0)),this.directionalLight.position.normalize(),this.renderer.clear(!0,!0,!0),this.renderer.render(this.scene,this.camera),this.highlighter.renderHighlights(this.scene,this.renderer,this.camera),this.animationRequestId=requestAnimationFrame(this.draw.bind(this)))},ROS3D.Viewer.prototype.stop=function(){this.stopped||cancelAnimationFrame(this.animationRequestId),this.stopped=!0},ROS3D.Viewer.prototype.addObject=function(a,b){b?this.selectableObjects.add(a):this.scene.add(a)},ROS3D.Viewer.prototype.resize=function(a,b){this.camera.aspect=a/b,this.camera.updateProjectionMatrix(),this.renderer.setSize(a,b)};
\ No newline at end of file
diff --git a/src/models/MeshResource.js b/src/models/MeshResource.js
index 3c804d0e..b45732a1 100644
--- a/src/models/MeshResource.js
+++ b/src/models/MeshResource.js
@@ -42,34 +42,46 @@ ROS3D.MeshResource = function(options) {
         console.warn(message);
       }
     };
-    loader.load(uri, function colladaReady(collada) {
-      // check for a scale factor in ColladaLoader2
-      // add a texture to anything that is missing one
-      if(material !== null) {
-        collada.scene.traverse(function(child) {
-          if(child instanceof THREE.Mesh) {
-            if(child.material === undefined) {
-              child.material = material;
+    loader.load(
+      uri,
+      function colladaReady(collada) {
+        // check for a scale factor in ColladaLoader2
+        // add a texture to anything that is missing one
+        if(material !== null) {
+          collada.scene.traverse(function(child) {
+            if(child instanceof THREE.Mesh) {
+              if(child.material === undefined) {
+                child.material = material;
+              }
             }
-          }
-        });
-      }
+          });
+        }
 
-      that.add(collada.scene);
-    });
+        that.add(collada.scene);
+      },
+      /*onProgress=*/null,
+      function onLoadError(error) {
+        console.error(error);
+      });
   } else if (fileType === '.stl') {
     loader = new THREE.STLLoader();
     {
-      loader.load(uri, function ( geometry ) {
-        geometry.computeFaceNormals();
-        var mesh;
-        if(material !== null) {
-          mesh = new THREE.Mesh( geometry, material );
-        } else {
-          mesh = new THREE.Mesh( geometry, new THREE.MeshBasicMaterial( { color: 0x999999 } ) );
-        }
-        that.add(mesh);
-      } );
+      loader.load(uri,
+                  function ( geometry ) {
+                    geometry.computeFaceNormals();
+                    var mesh;
+                    if(material !== null) {
+                      mesh = new THREE.Mesh( geometry, material );
+                    } else {
+                      mesh = new THREE.Mesh( geometry,
+                                             new THREE.MeshBasicMaterial( { color: 0x999999 } ) );
+                    }
+                    that.add(mesh);
+                  },
+                  /*onProgress=*/null,
+                  function onLoadError(error) {
+                    console.error(error);
+                  });
     }
   }
 };