PointCloud example issues

[jubeira]

Hello,

I'm having some trouble with the PointCloud example at both master and develop branches.

These are the steps I'm doing to get everything running:

• Edit https://github.com/RobotWebTools/ros3djs/blob/develop/examples/pointcloud2.html#L42 --> use /camera/depth/points as topic.
• roslaunch rosbridge_server rosbridge_websocket.launch
• rosrun tf2_web_republisher tf2_web_republisher
• roslaunch turtlebot_gazebo turtlebot_world.launch
• Serve the example and the scripts and open it in the browser (Firefox)

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On develop branch I'm getting the following error:

THREE.BufferGeometry.computeBoundingSphere(): Computed radius is NaN. The "position" attribute is likely to have NaN values. 

The stack trace is the following:

computeBoundingSphere        http://localhost:8000/build/ros3d.js:14033:6
intersectsObject             http://localhost:8000/build/ros3d.js:9107:5
projectObject                http://localhost:8000/build/ros3d.js:22456:36
projectObject                http://localhost:8000/build/ros3d.js:22501:4
projectObject                http://localhost:8000/build/ros3d.js:22501:4
WebGLRenderer/this.render    http://localhost:8000/build/ros3d.js:22259:3
draw                         http://localhost:8000/build/ros3d.js:54694:5

After the error nothing is rendered.

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On master branch I'm getting some JS warnings / errors on the console, but the main problem is that the GPU is not being used to process the pointcloud, and rosbridge buffer tends to overflow as described here RobotWebTools/rosbridge_suite#192. If I stop streaming pointclouds, it takes about a minute to render whatever is in the buffer (no GPU activity, only CPU).

I'm using Firefox; I already checked the settings and support page and webgl is properly enabled. Furthermore, when I run the examples in https://threejs.org/ I do see GPU activity.

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I'd like to get some pointers if possible. Shall I use develop or master branch? Any hints on the problems described above?

EDIT: now I see #213; so it seems the errors in master have been solved by #218. Any ideas on the issue on develop branch?

[jubeira]

See discussion in osrf/rvizweb#9 for reference and osrf/rvizweb#9 (comment) in particular.