PointCloud2 and LaserScan #218

mbredif · 2018-04-04T14:30:11Z

This PR builds on #216 and #217 to address #213 and give extra functionnalities to PointCloud2 and LaserScan topics :

subsample : input PointCloud2 and LaserScan messages may be subsampled by the given amount (1 point every N other points). This is mostly useful to visualize topics with too many points per second.
material : the previous custom material implementation has been changed to a material option, which defaults to a THREE.PointsMaterial constructed from material if it is not a THREE.Material already. For instance, size, sizeAttenuation, color should now be specified as material.size, material.sizeAttenuation and material.color. See the doc of THREE.PointsMaterial and THREE.Material for available parameters.
colorsrc is expecting a PointCloud2 field name to be used for coloring (defaults to 'rgb')
colormap is expecting a function that converts the colorsrc field value to a THREE.Color (defaults to THREE.Color construction)
many aspects have been optimized (eg: skipped values are not decoded, dynamic buffers are used with tight update range counts...)

Misc:

I added a simple launchfile examples/ros3djs.launch to simplify setup to simply roslaunch examples/ros3djs.launch instead of launching manually roscore, rosbridge and tf2_web_republisher.
I also added a kitti.html example that is intended to be used to visualize rossified kitti datasets.

mbredif · 2018-04-04T18:03:56Z

I added links in the kitti.html example so that people can get the dataset more easily.
I also added temporal subsampling : the subsample option is renamed pointRatio and the new option messageRatio is added to skip messages (in order to keep up with the incoming flow of points). The ratio corresponds to how much more points/messages were received compared to how much are displayed on screen.
The overall subsampling ratio is the product of the two.

FuzzAU

I've posted a few suggested changes

FuzzAU · 2018-04-06T03:59:40Z

src/sensors/Particles.js

    var customUniforms =
    {
-        texture:   { type: 't', value: THREE.ImageUtils.loadTexture( texture ) },
+		texture:   { type: 't', value: new THREE.TextureLoader().load( texture ) }


Most of the ros3djs code uses spaces, so might be nice to remove the tab here

FuzzAU · 2018-04-06T04:00:11Z

src/sensors/Particles.js

    };
-
-    this.attribs =
+


the extra spaces there are noise too. Some people get finicky about these things :-)

FuzzAU · 2018-04-06T04:00:51Z

src/sensors/Particles.js

    var customUniforms =
    {
-        texture:   { type: 't', value: THREE.ImageUtils.loadTexture( texture ) },
+		texture:   { type: 't', value: new THREE.TextureLoader().load( texture ) }
+        //texture:   { type: 't', value: THREE.ImageUtils.loadTexture( texture ) },


if you comment this code out, it might live there for ever
Git keeps the history, so just remove the line. People can refer to git if they want to know why and when it was remove

FuzzAU · 2018-04-06T04:01:00Z

src/sensors/Particles.js

-    this.attribs =
+
+
+    /*this.attribs =


same here if commenting something out, just remove it

FuzzAU · 2018-04-06T04:02:18Z

src/sensors/Particles.js

+    var customColor = [];
+    var alpha = [];
+
+    for(var i = 0; i < this.max_pts; i++){


Could this perhaps be done with something like
positions = new Array(3 * this.max_pts).fill(0);

Likely to be significantly more efficient with the browsers array fill.
It's reasonably well supported. I'm not sure how far back this project expects browser support, but it's been around for a while

https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Array/fill

FuzzAU · 2018-04-06T04:02:40Z

src/sensors/Particles.js

-    particles.attribs.customColor.needsUpdate = true;
-    particles.attribs.alpha.needsUpdate = true;
+    particles.points.needsUpdate = true;
+    //particles.attribs.customColor.needsUpdate = true;


remove this and the like 145 that is commented out

FuzzAU · 2018-04-06T04:04:15Z

oh I posted some suggestions, then realised you removed some of that code later anyway :-P oops

mbredif · 2018-04-06T06:17:39Z

Sorry about that, i can squash the 2 commits if you prefer.
No comments on the 2nd commit ? :)

jihoonl

Thanks for the PR. It looks good. Could you address the comments in the code?
And could you remove package-lock.json?

jihoonl · 2018-04-08T04:26:21Z

src/sensors/LaserScan.js

- *  * texture - (optional) Image url for a texture to use for the points. Defaults to a single white pixel.
- *  * rootObject (optional) - the root object to add this marker to
- *  * size (optional) - size to draw each point (default 0.05)
- *  * max_pts (optional) - number of points to draw (default 100)


color, size and texture are removed. Could you check if these fields are set and log deprecation warning with a guide to use the newer way?

jihoonl · 2018-04-08T04:27:12Z

src/sensors/Particles.js

- *  * texture - (optional) Image url for a texture to use for the points. Defaults to a single white pixel.
- *  * rootObject (optional) - the root object to add this marker to
- *  * size (optional) - size to draw each point (default 0.05)
- *  * max_pts (optional) - number of points to draw (default 100)


texture and size are gone here also. Could you add a check with deprecation warning?

mbredif · 2018-04-09T09:02:13Z

Deprecation warning as been added here.
I also removed package-lock.json renamed Particles.js to Points.js to reflect the underlying changes.

…ge-lock.json

Removing redundant roslaunch calls in the help.

…to pointcloud2

- This pulls in changes from PRs RobotWebTools#207, RobotWebTools#210, RobotWebTools#218, RobotWebTools#221, and RobotWebTools#223 - Note: src/sensors/Points.js was modified to *explicitly* extend THREE.Object3D to support transpiling

* Fix links in example and readme (#206) * Report error from ColladaLoader in MeshResource (#210) this will hopefully make situations like #209 easier to debug * Added Rollup * Added yarn lockfile * Removed references to COLLADA_LOADER_2 * Added es6 transpiler and rollup config, working on transpiling * Touched up a couple potential mistypes prevent transpiler from working. 1 - removed explicit super.super() call from InteractiveMarker. 2 - Made Particles explicitly derive from THREE.Object3D. * Rewrote Particles' method signatures in format consistent with rest of codebase * Refactored updateMatrixWorld to be more statically analyzable * ES6 modules properly compiling, Working on runtime errors * Moved 'that' assignments happen *after* calls super constructors in derived classes * Added missing super constructor call * Removed assignment to read-only property causing a runtime error, added a relevant comment * Moved all super constructor calls to preceed any use of 'this' * Added shims for THREE and THREE extensions to support es6 compatible module extensions * Cleanup and added examples for single page applications and using html imports in browsers * Moved es6 support files to es6-support folder and renamed destination for es6 transpiled output * Moved shims to top level * Removed pre-es6 source code and es6 transpiler * DepthCloud: make depth range adaptable + fix depth point position decoding (#207) * PointCloud2 and LaserScan (#218) * buffergeometry in PointCloud2 * pointcloud2: buffergeometry, subsampling * renamed Particles.js to Points.js, deprecation warning in Points.js * Update kitti.html * Removing redundant roslaunch calls in the help. * NavSatFix support (#221) * fix: pointRatio option in PointCloud2 and LaserScan (#223) * Added build products * Removed extra log * Added angular app example * Added react app example and touched up other SPA examples * Added build output * Removed extra log * Added angular app example * Added react app example and touched up other SPA examples * Updated ROSLIB import semantics * Updated ROSLIB import semantics * Switched ColladaLoader shim from official ColladaLoader to the ros3djs fork * Switched ColladaLoader shim from official ColladaLoader to the ros3djs fork * Updated html-import example to use yarn like the other examples * Updated html-import example to use yarn like the other examples * Updated outdated grunt plugins * Fixed linter errors * Updated grunt build process to build es6 output * Switched from jshint to eslint, migrating rules and fixing lint issues * Updated commonjs target to be es5 * Fixed pkg.module to use es6 module syntax, but es5 language features * Fixed bug in Points class * Switched from const to var for es5 compatibility * Added PointCloud2 example for angular app * Updated node version use by CI server

WIP: buffergeometry in PointCloud2

654c2b8

This was referenced Apr 4, 2018

[WIP] BufferGeometry for PointCloud2 #216

Closed

Updates from ShaderMaterial to PointsMaterial in Particles.js #217

Closed

mbredif force-pushed the pointcloud2 branch 2 times, most recently from cc50064 to 3ae072d Compare April 4, 2018 14:54

pointcloud2: buffergeometry, subsampling

d63760b

mbredif force-pushed the pointcloud2 branch from 3ae072d to d63760b Compare April 4, 2018 17:59

This was referenced Apr 4, 2018

Large PointCloud Jumping and Latency #144

Open

PointCloud2 broken in v0.18.0 #213

Closed

FuzzAU suggested changes Apr 6, 2018

View reviewed changes

jihoonl requested changes Apr 8, 2018

View reviewed changes

jihoonl mentioned this pull request Apr 8, 2018

NavSatFix support #219

Merged

mbredif force-pushed the pointcloud2 branch from c2254cc to 9d8b246 Compare April 9, 2018 09:03

renamed Particles.js to Points.js, deprecation warning, removed packa…

fa67a14

…ge-lock.json

mbredif force-pushed the pointcloud2 branch from 9d8b246 to fa67a14 Compare April 9, 2018 09:40

mbredif and others added 2 commits April 10, 2018 11:10

Update kitti.html

b719d76

Removing redundant roslaunch calls in the help.

Merge branch 'develop' of https://github.com/RobotWebTools/ros3djs in…

9e13c0e

…to pointcloud2

jihoonl approved these changes Apr 15, 2018

View reviewed changes

jihoonl merged commit cdf9966 into RobotWebTools:develop Apr 15, 2018

mbredif mentioned this pull request Apr 16, 2018

fix: pointRatio option in PointCloud2 and LaserScan #223

Merged

jubeira mentioned this pull request Jan 3, 2019

PointCloud example issues #243

Closed

MatthijsBurgh mentioned this pull request Jun 13, 2021

get rid of https://upload.wikimedia.org/wikipedia/commons/a/a2/Pixel-white.png #195

Closed

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PointCloud2 and LaserScan #218

PointCloud2 and LaserScan #218

mbredif commented Apr 4, 2018 •

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PointCloud2 and LaserScan #218

PointCloud2 and LaserScan #218

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