Merge pull request #44 from rctoris/devel

MARKER_CUBE_LIST added to Marker.js
RobotWebTools · Jun 5, 2013 · 6051c23 · 6051c23
2 parents 2f305a7 + a8bff36
commit 6051c23
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Showing 5 changed files with 103 additions and 60 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,4 +1,5 @@
 DEVEL - **r6**
+ * MARKER_CUBE_LIST added to Marker.js [(rctoris)](https://github.com/rctoris/)
 
 2013-05-29 - **r5**
  * Added DepthCloud class for point ploud streaming with ros_web_video and depthcloud_encoder ([jkammerl](https://github.com/jkammerl/), [dgossow](https://github.com/dgossow/))

diff --git a/build/ros3d.js b/build/ros3d.js
@@ -177,28 +177,25 @@ ROS3D.closestAxisPoint = function(axisRay, camera, mousePos) {
  *
  * @constructor
  * @param options - object with following keys:
- *  * f - The camera's focal length
- *  * pointSize - Point size (pixels) for rendered point cloud
- *  * width, height - Dimensions of the video stream
- *  * whiteness - Blends rgb values to white (0..100)
- *  * varianceThreshold - Threshold for variance filter, used for compression artifact removal
+ *   * url - the URL of the stream
+ *   * f (optional) - the camera's focal length (defaults to standard Kinect calibration)
+ *   * pointSize (optional) - point size (pixels) for rendered point cloud
+ *   * width (optional) - width of the video stream
+ *   * height (optional) - height of the video stream
+ *   * whiteness (optional) - blends rgb values to white (0..100)
+ *   * varianceThreshold (optional) - threshold for variance filter, used for compression artifact removal
  */
 ROS3D.DepthCloud = function(options) {
-
+  options = options || {};
   THREE.Object3D.call(this);
-
-  // ///////////////////////////
-  // depth cloud options
-  // ///////////////////////////
-
+
   this.url = options.url;
-  // f defaults to standard Kinect calibration
-  this.f = (options.f !== undefined) ? options.f : 526;
-  this.pointSize = (options.pointSize !== undefined) ? options.pointSize : 3;
-  this.width = (options.width !== undefined) ? options.width : 1024;
-  this.height = (options.height !== undefined) ? options.height : 1024;
-  this.whiteness = (options.whiteness !== undefined) ? options.whiteness : 0;
-  this.varianceThreshold = (options.varianceThreshold !== undefined) ? options.varianceThreshold : 0.000016667;
+  this.f = options.f || 526;
+  this.pointSize = options.pointSize || 3;
+  this.width = options.width || 1024;
+  this.height = options.height || 1024;
+  this.whiteness = options.whiteness || 0;
+  this.varianceThreshold = options.varianceThreshold || 0.000016667;
 
   var metaLoaded = false;
   this.video = document.createElement('video');
@@ -210,9 +207,7 @@ ROS3D.DepthCloud = function(options) {
   this.video.crossOrigin = 'Anonymous';
   this.video.setAttribute('crossorigin', 'Anonymous');
 
-  // ///////////////////////////
-  // load shaders
-  // ///////////////////////////
+  // define custom shaders
   this.vertex_shader = [
     'uniform sampler2D map;',
     '',
@@ -385,15 +380,15 @@ ROS3D.DepthCloud = function(options) {
 };
 ROS3D.DepthCloud.prototype.__proto__ = THREE.Object3D.prototype;
 
-/*
+/**
  * Callback called when video metadata is ready
  */
 ROS3D.DepthCloud.prototype.metaLoaded = function() {
   this.metaLoaded = true;
   this.initStreamer();
 };
 
-/*
+/**
  * Callback called when video metadata is ready
  */
 ROS3D.DepthCloud.prototype.initStreamer = function() {
@@ -412,9 +407,7 @@ ROS3D.DepthCloud.prototype.initStreamer = function() {
     }
 
     this.material = new THREE.ShaderMaterial({
-
       uniforms : {
-
         'map' : {
           type : 't',
           value : this.texture
@@ -450,8 +443,6 @@ ROS3D.DepthCloud.prototype.initStreamer = function() {
       },
       vertexShader : this.vertex_shader,
       fragmentShader : this.fragment_shader
-      // depthWrite: false
-
     });
 
     this.mesh = new THREE.ParticleSystem(this.geometry, this.material);
@@ -469,14 +460,14 @@ ROS3D.DepthCloud.prototype.initStreamer = function() {
   }
 };
 
-/*
+/**
  * Start video playback
  */
 ROS3D.DepthCloud.prototype.startStream = function() {
   this.video.play();
 };
 
-/*
+/**
  * Stop video playback
  */
 ROS3D.DepthCloud.prototype.stopStream = function() {
@@ -1726,6 +1717,36 @@ ROS3D.Marker = function(options) {
       this.add(cylinderMesh);
       break;
     case ROS3D.MARKER_CUBE_LIST:
+      // holds the main object
+      var object = new THREE.Object3D();
+
+      // check if custom colors should be used
+      var numPoints = message.points.length;
+      var createColors = (numPoints === message.colors.length);
+      // do not render giant lists
+      var stepSize = Math.ceil(numPoints / 1250);
+
+      // add the points
+      var p, cube, curColor, newMesh;
+      for (p = 0; p < numPoints; p+=stepSize) {
+        cube = new THREE.CubeGeometry(message.scale.x, message.scale.y, message.scale.z);
+
+        // check the color
+        if(createColors) {
+          curColor = ROS3D.makeColorMaterial(message.colors[p].r, message.colors[p].g, message.colors[p].b, message.colors[p].a);
+        } else {
+          curColor = colorMaterial;
+        }
+
+        newMesh = new THREE.Mesh(cube, curColor);
+        newMesh.position.x = message.points[p].x;
+        newMesh.position.y = message.points[p].y;
+        newMesh.position.z = message.points[p].z;
+        object.add(newMesh);
+      }
+
+      this.add(object);
+      break;
     case ROS3D.MARKER_SPHERE_LIST:
     case ROS3D.MARKER_POINTS:
       // for now, use a particle system for the lists

diff --git a/build/ros3d.min.js b/build/ros3d.min.js
diff --git a/src/depthcloud/DepthCloud.js b/src/depthcloud/DepthCloud.js
@@ -7,28 +7,25 @@
  *
  * @constructor
  * @param options - object with following keys:
- *  * f - The camera's focal length
- *  * pointSize - Point size (pixels) for rendered point cloud
- *  * width, height - Dimensions of the video stream
- *  * whiteness - Blends rgb values to white (0..100)
- *  * varianceThreshold - Threshold for variance filter, used for compression artifact removal
+ *   * url - the URL of the stream
+ *   * f (optional) - the camera's focal length (defaults to standard Kinect calibration)
+ *   * pointSize (optional) - point size (pixels) for rendered point cloud
+ *   * width (optional) - width of the video stream
+ *   * height (optional) - height of the video stream
+ *   * whiteness (optional) - blends rgb values to white (0..100)
+ *   * varianceThreshold (optional) - threshold for variance filter, used for compression artifact removal
  */
 ROS3D.DepthCloud = function(options) {
-
+  options = options || {};
   THREE.Object3D.call(this);
-
-  // ///////////////////////////
-  // depth cloud options
-  // ///////////////////////////
-
+
   this.url = options.url;
-  // f defaults to standard Kinect calibration
-  this.f = (options.f !== undefined) ? options.f : 526;
-  this.pointSize = (options.pointSize !== undefined) ? options.pointSize : 3;
-  this.width = (options.width !== undefined) ? options.width : 1024;
-  this.height = (options.height !== undefined) ? options.height : 1024;
-  this.whiteness = (options.whiteness !== undefined) ? options.whiteness : 0;
-  this.varianceThreshold = (options.varianceThreshold !== undefined) ? options.varianceThreshold : 0.000016667;
+  this.f = options.f || 526;
+  this.pointSize = options.pointSize || 3;
+  this.width = options.width || 1024;
+  this.height = options.height || 1024;
+  this.whiteness = options.whiteness || 0;
+  this.varianceThreshold = options.varianceThreshold || 0.000016667;
 
   var metaLoaded = false;
   this.video = document.createElement('video');
@@ -40,9 +37,7 @@ ROS3D.DepthCloud = function(options) {
   this.video.crossOrigin = 'Anonymous';
   this.video.setAttribute('crossorigin', 'Anonymous');
 
-  // ///////////////////////////
-  // load shaders
-  // ///////////////////////////
+  // define custom shaders
   this.vertex_shader = [
     'uniform sampler2D map;',
     '',
@@ -215,15 +210,15 @@ ROS3D.DepthCloud = function(options) {
 };
 ROS3D.DepthCloud.prototype.__proto__ = THREE.Object3D.prototype;
 
-/*
+/**
  * Callback called when video metadata is ready
  */
 ROS3D.DepthCloud.prototype.metaLoaded = function() {
   this.metaLoaded = true;
   this.initStreamer();
 };
 
-/*
+/**
  * Callback called when video metadata is ready
  */
 ROS3D.DepthCloud.prototype.initStreamer = function() {
@@ -242,9 +237,7 @@ ROS3D.DepthCloud.prototype.initStreamer = function() {
     }
 
     this.material = new THREE.ShaderMaterial({
-
       uniforms : {
-
         'map' : {
           type : 't',
           value : this.texture
@@ -280,8 +273,6 @@ ROS3D.DepthCloud.prototype.initStreamer = function() {
       },
       vertexShader : this.vertex_shader,
       fragmentShader : this.fragment_shader
-      // depthWrite: false
-
     });
 
     this.mesh = new THREE.ParticleSystem(this.geometry, this.material);
@@ -299,14 +290,14 @@ ROS3D.DepthCloud.prototype.initStreamer = function() {
   }
 };
 
-/*
+/**
  * Start video playback
  */
 ROS3D.DepthCloud.prototype.startStream = function() {
   this.video.play();
 };
 
-/*
+/**
  * Stop video playback
  */
 ROS3D.DepthCloud.prototype.stopStream = function() {

diff --git a/src/markers/Marker.js b/src/markers/Marker.js
@@ -89,6 +89,36 @@ ROS3D.Marker = function(options) {
       this.add(cylinderMesh);
       break;
     case ROS3D.MARKER_CUBE_LIST:
+      // holds the main object
+      var object = new THREE.Object3D();
+
+      // check if custom colors should be used
+      var numPoints = message.points.length;
+      var createColors = (numPoints === message.colors.length);
+      // do not render giant lists
+      var stepSize = Math.ceil(numPoints / 1250);
+
+      // add the points
+      var p, cube, curColor, newMesh;
+      for (p = 0; p < numPoints; p+=stepSize) {
+        cube = new THREE.CubeGeometry(message.scale.x, message.scale.y, message.scale.z);
+
+        // check the color
+        if(createColors) {
+          curColor = ROS3D.makeColorMaterial(message.colors[p].r, message.colors[p].g, message.colors[p].b, message.colors[p].a);
+        } else {
+          curColor = colorMaterial;
+        }
+
+        newMesh = new THREE.Mesh(cube, curColor);
+        newMesh.position.x = message.points[p].x;
+        newMesh.position.y = message.points[p].y;
+        newMesh.position.z = message.points[p].z;
+        object.add(newMesh);
+      }
+
+      this.add(object);
+      break;
     case ROS3D.MARKER_SPHERE_LIST:
     case ROS3D.MARKER_POINTS:
       // for now, use a particle system for the lists