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renamed Particles.js to Points.js, deprecation warning, removed packa…
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…ge-lock.json
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@mbredif
mbredif committed Apr 9, 2018
1 parent d63760b commit fa67a14
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Showing 8 changed files with 206 additions and 4,672 deletions.
286 changes: 147 additions & 139 deletions build/ros3d.js
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Original file line number Diff line number Diff line change
Expand Up @@ -3531,7 +3531,7 @@ ROS3D.LaserScan = function(options) {
options = options || {};
this.ros = options.ros;
this.topicName = options.topic || '/scan';
this.particles = new ROS3D.Particles(options);
this.points = new ROS3D.Points(options);
this.rosTopic = undefined;
this.subscribe();

Expand All @@ -3558,134 +3558,21 @@ ROS3D.LaserScan.prototype.subscribe = function(){
};

ROS3D.LaserScan.prototype.processMessage = function(message){
if(!this.particles.setup(message.header.frame_id)) {
if(!this.points.setup(message.header.frame_id)) {
return;
}
var n = message.ranges.length;
var j = 0;
for(var i=0;i<n;i+=this.particles.pointRatio){
for(var i=0;i<n;i+=this.points.positionRatio){
var range = message.ranges[i];
if(range >= message.range_min && range <= message.range_max){
var angle = message.angle_min + i * message.angle_increment;
this.particles.point.array[j++] = range * Math.cos(angle);
this.particles.point.array[j++] = range * Math.sin(angle);
this.particles.point.array[j++] = 0.0;
this.points.positions.array[j++] = range * Math.cos(angle);
this.points.positions.array[j++] = range * Math.sin(angle);
this.points.positions.array[j++] = 0.0;
}
}
this.particles.update(j/3);
};

/**
* @author David V. Lu!! - davidvlu@gmail.com
* @author Mathieu Bredif - mathieu.bredif@ign.fr
*/

/**
* A set of particles. Used by PointCloud2.
*
* @constructor
* @param options - object with following keys:
*
* * tfClient - the TF client handle to use
* * rootObject (optional) - the root object to add this marker to use for the points.
* * max_pts (optional) - number of points to draw (default: 10000)
* * pointRatio (optional) - point subsampling ratio (default: 1, no subsampling)
* * messageRatio (optional) - message subsampling ratio (default: 1, no subsampling)
* * material (optional) - a material object or an option to construct a PointsMaterial.
* * colorsrc (optional) - the field to be used for coloring (default: 'rgb')
* * colormap (optional) - function that turns the colorsrc field value to a color
*/
ROS3D.Particles = function(options) {
options = options || {};
this.tfClient = options.tfClient;
this.rootObject = options.rootObject || new THREE.Object3D();
this.max_pts = options.max_pts || 10000;
this.pointRatio = options.pointRatio || 1;
this.messageRatio = options.messageRatio || 1;
this.messageCount = 0;
this.material = options.material || {};
this.colorsrc = options.colorsrc;
this.colormap = options.colormap;
THREE.Object3D.call(this);

this.sn = null;
this.buffer = null;
};

ROS3D.Particles.prototype.setup = function(frame, point_step, fields)
{
if(this.sn===null){
// scratch space to decode base64 buffers
if(point_step) {
this.buffer = new Uint8Array( this.max_pts * point_step );
}
// turn fields to a map
fields = fields || [];
this.fields = {};
for(var i=0; i<fields.length; i++) {
this.fields[fields[i].name] = fields[i];
}
this.geom = new THREE.BufferGeometry();

this.point = new THREE.BufferAttribute( new Float32Array( this.max_pts * 3), 3, false );
this.geom.addAttribute( 'position', this.point.setDynamic(true) );

if(!this.colorsrc && this.fields.rgb) {
this.colorsrc = 'rgb';
}
if(this.colorsrc) {
var field = this.fields[this.colorsrc];
if (field) {
this.color = new THREE.BufferAttribute( new Float32Array( this.max_pts * 3), 3, false );
this.geom.addAttribute( 'color', this.color.setDynamic(true) );
var offset = field.offset;
this.getColor = [
function(dv,base,le){return dv.getInt8(base+offset,le);},
function(dv,base,le){return dv.getUint8(base+offset,le);},
function(dv,base,le){return dv.getInt16(base+offset,le);},
function(dv,base,le){return dv.getUint16(base+offset,le);},
function(dv,base,le){return dv.getInt32(base+offset,le);},
function(dv,base,le){return dv.getUint32(base+offset,le);},
function(dv,base,le){return dv.getFloat32(base+offset,le);},
function(dv,base,le){return dv.getFloat64(base+offset,le);}
][field.datatype-1];
this.colormap = this.colormap || function(x){return new THREE.Color(x);};
} else {
console.warn('unavailable field "' + this.colorsrc + '" for coloring.');
}
}

if(!this.material.isMaterial) { // if it is an option, apply defaults and pass it to a PointsMaterial
if(this.color && this.material.vertexColors === undefined) {
this.material.vertexColors = THREE.VertexColors;
}
this.material = new THREE.PointsMaterial(this.material);
}

this.ps = new THREE.Points( this.geom, this.material );

this.sn = new ROS3D.SceneNode({
frameID : frame,
tfClient : this.tfClient,
object : this.ps
});

this.rootObject.add(this.sn);
}
return (this.messageCount++ % this.messageRatio) === 0;
};

ROS3D.Particles.prototype.update = function(n)
{
this.geom.setDrawRange(0,n);

this.point.needsUpdate = true;
this.point.updateRange.count = n * this.point.itemSize;

if (this.color) {
this.color.needsUpdate = true;
this.color.updateRange.count = n * this.color.itemSize;
}
this.points.update(j/3);
};

/**
Expand Down Expand Up @@ -3750,7 +3637,7 @@ ROS3D.PointCloud2 = function(options) {
options = options || {};
this.ros = options.ros;
this.topicName = options.topic || '/points';
this.particles = new ROS3D.Particles(options);
this.points = new ROS3D.Points(options);
this.rosTopic = undefined;
this.subscribe();
};
Expand All @@ -3776,40 +3663,161 @@ ROS3D.PointCloud2.prototype.subscribe = function(){
};

ROS3D.PointCloud2.prototype.processMessage = function(msg){
if(!this.particles.setup(msg.header.frame_id, msg.point_step, msg.fields)) {
if(!this.points.setup(msg.header.frame_id, msg.point_step, msg.fields)) {
return;
}

var n, pointRatio = this.particles.pointRatio;
var n, pointRatio = this.points.positionRatio;

if (msg.data.buffer) {
this.particles.buffer = msg.data.buffer;
this.points.buffer = msg.data.buffer;
n = msg.height*msg.width / pointRatio;
} else {
n = decode64(msg.data, this.particles.buffer, msg.point_step, pointRatio);
n = decode64(msg.data, this.points.buffer, msg.point_step, pointRatio);
pointRatio = 1;
}

var dv = new DataView(this.particles.buffer.buffer);
var dv = new DataView(this.points.buffer.buffer);
var littleEndian = !msg.is_bigendian;
var x = this.particles.fields.x.offset;
var y = this.particles.fields.y.offset;
var z = this.particles.fields.z.offset;
var x = this.points.fields.x.offset;
var y = this.points.fields.y.offset;
var z = this.points.fields.z.offset;
var base, color;
for(var i = 0; i < n; i++){
base = i * pointRatio * msg.point_step;
this.particles.point.array[3*i ] = dv.getFloat32(base+x, littleEndian);
this.particles.point.array[3*i + 1] = dv.getFloat32(base+y, littleEndian);
this.particles.point.array[3*i + 2] = dv.getFloat32(base+z, littleEndian);

if(this.particles.getColor){
color = this.particles.colormap(this.particles.getColor(dv,base,littleEndian));
this.particles.color.array[3*i ] = color.r;
this.particles.color.array[3*i + 1] = color.g;
this.particles.color.array[3*i + 2] = color.b;
this.points.positions.array[3*i ] = dv.getFloat32(base+x, littleEndian);
this.points.positions.array[3*i + 1] = dv.getFloat32(base+y, littleEndian);
this.points.positions.array[3*i + 2] = dv.getFloat32(base+z, littleEndian);

if(this.points.colors){
color = this.points.colormap(this.points.getColor(dv,base,littleEndian));
this.points.colors.array[3*i ] = color.r;
this.points.colors.array[3*i + 1] = color.g;
this.points.colors.array[3*i + 2] = color.b;
}
}
this.points.update(n);
};

/**
* @author David V. Lu!! - davidvlu@gmail.com
* @author Mathieu Bredif - mathieu.bredif@ign.fr
*/

/**
* A set of points. Used by PointCloud2 and LaserScan.
*
* @constructor
* @param options - object with following keys:
*
* * tfClient - the TF client handle to use
* * rootObject (optional) - the root object to add this marker to use for the points.
* * max_pts (optional) - number of points to draw (default: 10000)
* * pointRatio (optional) - point subsampling ratio (default: 1, no subsampling)
* * messageRatio (optional) - message subsampling ratio (default: 1, no subsampling)
* * material (optional) - a material object or an option to construct a PointsMaterial.
* * colorsrc (optional) - the field to be used for coloring (default: 'rgb')
* * colormap (optional) - function that turns the colorsrc field value to a color
*/
ROS3D.Points = function(options) {
options = options || {};
this.tfClient = options.tfClient;
this.rootObject = options.rootObject || new THREE.Object3D();
this.max_pts = options.max_pts || 10000;
this.pointRatio = options.pointRatio || 1;
this.messageRatio = options.messageRatio || 1;
this.messageCount = 0;
this.material = options.material || {};
this.colorsrc = options.colorsrc;
this.colormap = options.colormap;
THREE.Object3D.call(this);

if(('color' in options) || ('size' in options) || ('texture' in options)) {
console.warn(
'toplevel "color", "size" and "texture" options are deprecated.' +
'They should beprovided within a "material" option, e.g. : '+
' { tfClient, material : { color: mycolor, size: mysize, map: mytexture }, ... }'
);
}

this.sn = null;
this.buffer = null;
};

ROS3D.Points.prototype.setup = function(frame, point_step, fields)
{
if(this.sn===null){
// scratch space to decode base64 buffers
if(point_step) {
this.buffer = new Uint8Array( this.max_pts * point_step );
}
// turn fields to a map
fields = fields || [];
this.fields = {};
for(var i=0; i<fields.length; i++) {
this.fields[fields[i].name] = fields[i];
}
this.geom = new THREE.BufferGeometry();

this.positions = new THREE.BufferAttribute( new Float32Array( this.max_pts * 3), 3, false );
this.geom.addAttribute( 'position', this.positions.setDynamic(true) );

if(!this.colorsrc && this.fields.rgb) {
this.colorsrc = 'rgb';
}
if(this.colorsrc) {
var field = this.fields[this.colorsrc];
if (field) {
this.colors = new THREE.BufferAttribute( new Float32Array( this.max_pts * 3), 3, false );
this.geom.addAttribute( 'color', this.colors.setDynamic(true) );
var offset = field.offset;
this.getColor = [
function(dv,base,le){return dv.getInt8(base+offset,le);},
function(dv,base,le){return dv.getUint8(base+offset,le);},
function(dv,base,le){return dv.getInt16(base+offset,le);},
function(dv,base,le){return dv.getUint16(base+offset,le);},
function(dv,base,le){return dv.getInt32(base+offset,le);},
function(dv,base,le){return dv.getUint32(base+offset,le);},
function(dv,base,le){return dv.getFloat32(base+offset,le);},
function(dv,base,le){return dv.getFloat64(base+offset,le);}
][field.datatype-1];
this.colormap = this.colormap || function(x){return new THREE.Color(x);};
} else {
console.warn('unavailable field "' + this.colorsrc + '" for coloring.');
}
}

if(!this.material.isMaterial) { // if it is an option, apply defaults and pass it to a PointsMaterial
if(this.colors && this.material.vertexColors === undefined) {
this.material.vertexColors = THREE.VertexColors;
}
this.material = new THREE.PointsMaterial(this.material);
}

this.object = new THREE.Points( this.geom, this.material );

this.sn = new ROS3D.SceneNode({
frameID : frame,
tfClient : this.tfClient,
object : this.object
});

this.rootObject.add(this.sn);
}
return (this.messageCount++ % this.messageRatio) === 0;
};

ROS3D.Points.prototype.update = function(n)
{
this.geom.setDrawRange(0,n);

this.positions.needsUpdate = true;
this.positions.updateRange.count = n * this.positions.itemSize;

if (this.colors) {
this.colors.needsUpdate = true;
this.colors.updateRange.count = n * this.colors.itemSize;
}
this.particles.update(n);
};

/**
Expand Down
4 changes: 2 additions & 2 deletions build/ros3d.min.js
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Large diffs are not rendered by default.

11 changes: 7 additions & 4 deletions examples/kitti.html
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Original file line number Diff line number Diff line change
Expand Up @@ -35,16 +35,19 @@
fixedFrame : 'velo_link'
});

// var texture = new THREE.TextureLoader().load( "https://threejs.org/examples/textures/sprites/ball.png" );

var cloudClient = new ROS3D.PointCloud2({
ros: ros,
tfClient: tfClient,
rootObject: viewer.scene,
topic: '/kitti/velo/pointcloud',
max_pts: 200000,
pointRatio: 2,
messageRatio: 1,
material: { size: 3, color: new THREE.Color(0xffffff), sizeAttenuation: false },
//colorsrc: 'i', colormap: function(i) { return new THREE.Color(3*i,0,1-3*i); }
pointRatio: 3,
messageRatio: 2,
// material: { size: 7, sizeAttenuation: false, alphaTest: 0.5, transparent: true, map: texture },
material: { size: 3, sizeAttenuation: false },
// colorsrc: 'i', colormap: function(i) { return new THREE.Color(3*i,0,1-3*i); }
colorsrc: 'z', colormap: function(z) { z=z+2; return new THREE.Color(z,0,1-z); }
});
}
Expand Down
2 changes: 1 addition & 1 deletion examples/pointcloud2.html
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@
tfClient: tfClient,
rootObject: viewer.scene,
topic: '/camera/depth_registered/points',
material: { size: 0.05 }
material: { size: 0.05, color: 0xff00ff }
});
}
</script>
Expand Down
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