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Allow a color for a PointCloud2 #196

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merged 1 commit into from
Oct 13, 2017
+16 −4
Merged

Allow a color for a PointCloud2 #196

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8 changes: 7 additions & 1 deletion build/ros3d.js
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Original file line number Diff line number Diff line change
Expand Up @@ -3788,11 +3788,13 @@ function decode64(x) {
* * 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 (optional) - point color (otherwise taken from the topic)
*/
ROS3D.PointCloud2 = function(options) {
options = options || {};
this.ros = options.ros;
this.topicName = options.topic || '/points';
this.color = options.color;

this.particles = new ROS3D.Particles(options);
this.rosTopic = undefined;
Expand Down Expand Up @@ -3830,10 +3832,14 @@ ROS3D.PointCloud2.prototype.processMessage = function(message){
buffer = Uint8Array.from(decode64(message.data)).buffer;
}
var dv = new DataView(buffer);
var color;
if(this.color !== undefined){
color = new THREE.Color(this.color);
}
for(var i=0;i<n;i++){
var pt = read_point(message, i, dv);
this.particles.points[i] = new THREE.Vector3( pt['x'], pt['y'], pt['z'] );
this.particles.colors[ i ] = new THREE.Color( pt['rgb'] );
this.particles.colors[ i ] = color || new THREE.Color( pt['rgb'] );
this.particles.alpha[i] = 1.0;
}

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