Adaptable depthcloud range #207
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| ' ( position.x / width - 0.5 ) * z * (1000.0/focallength) * -1.0,', | ||
| ' ( position.y / height - 0.5 ) * z * (1000.0/focallength),', | ||
| ' (- z + zOffset / 1000.0) * 2.0,', | ||
| ' ( position.x / width - 0.5 ) * z * 0.5 * maxDepthPerTile * (1000.0/focallength) * -1.0,', |
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It looks like it changes the default behavior with default value of maxDepthPerTile. Can you make the default behavior as before?
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As I mentioned in the PR description, when RobotWebTools/depthcloud_encoder#5 was merged, this file hasn't been updated for the decoded depth cloud to accommodate for the reduced factor. This was actually a bug that places all points at twice the distance from their correct pose, because we are encoding at a singular/unit range (1.0 = 0 - 2m) and decoding at twice the range (2.0 = ~4m). Hence this PR halves the distance in each axis.
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There actually was a PR that never made it in, because of too many untested changes. The change in question is here: https://github.com/RobotWebTools/ros3djs/pull/106/files#diff-32279e45de1135eb1be4b5f7120f695aL156
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@viktorku oh I see, any thoughts on a more general solution? For instance do you think it may be possible to provide the min/max range values directly in the data from the depthcloud_encoder so that the resolution can be dynamically and automatically configured on the receiving side here in ros3djs? It seems our current approach is a pretty poor user experience to have to tune both sides manually, maybe we should go after a more general improvement after we get this bug fix through.
I'll give this a spin on my equipment this evening.
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@viktorku I see. I missed to read your comments. thanks for the explanation.
@sevenbitbyte maybe user can rosparam get max_depth_per_tile before creating DepthCloud object to get the parameter from server side. How about adding this step in our depthcloud example?
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@sevenbitbyte any updates? Otherwise, we move on.
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@viktorku Could you update the depth_cloud example to get |
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Merged via 560ca2e |
- 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
- 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
- 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
- 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
- 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
The
DepthCloudimplementation that goes along with RobotWebTools/depthcloud_encoder#8.Also fixes the decoding step as the depthcloud hasn't been adapted since RobotWebTools/depthcloud_encoder#5 has been merged to correctly accommodate for the fixed range.