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Adaptable depthcloud range #207

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Adaptable depthcloud range #207

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107d24f
DepthCloud: make depth range adaptable + fix depth point position dec…
Jan 9, 2018
c475278
build
Jan 9, 2018
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15 changes: 11 additions & 4 deletions build/ros3d.js
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Original file line number Diff line number Diff line change
Expand Up @@ -179,6 +179,7 @@ ROS3D.closestAxisPoint = function(axisRay, camera, mousePos) {
* * url - the URL of the stream
* * streamType (optional) - the stream type: mjpeg or vp8 video (defaults to vp8)
* * f (optional) - the camera's focal length (defaults to standard Kinect calibration)
* * maxDepthPerTile (optional) - the factor with which we control the desired depth range (defaults to 1.0)
* * pointSize (optional) - point size (pixels) for rendered point cloud
* * width (optional) - width of the video stream
* * height (optional) - height of the video stream
Expand All @@ -192,6 +193,7 @@ ROS3D.DepthCloud = function(options) {
this.url = options.url;
this.streamType = options.streamType || 'vp8';
this.f = options.f || 526;
this.maxDepthPerTile = options.maxDepthPerTile || 1.0;
this.pointSize = options.pointSize || 3;
this.width = options.width || 1024;
this.height = options.height || 1024;
Expand Down Expand Up @@ -225,6 +227,7 @@ ROS3D.DepthCloud = function(options) {
'uniform float zOffset;',
'',
'uniform float focallength;',
'uniform float maxDepthPerTile;',
'',
'varying vec2 vUvP;',
'varying vec2 colorP;',
Expand Down Expand Up @@ -328,9 +331,9 @@ ROS3D.DepthCloud = function(options) {
' float z = -depth;',
' ',
' pos = vec4(',
' ( 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,',
' ( position.y / height - 0.5 ) * z * 0.5 * maxDepthPerTile * (1000.0/focallength),',
' (- z + zOffset / 1000.0) * maxDepthPerTile,',
' 1.0);',
' ',
' vec2 maskP = vec2( position.x / (width*2.0), position.y / (height*2.0) );',
Expand Down Expand Up @@ -445,7 +448,11 @@ ROS3D.DepthCloud.prototype.initStreamer = function() {
'varianceThreshold' : {
type : 'f',
value : this.varianceThreshold
}
},
'maxDepthPerTile': {
type : 'f',
value : this.maxDepthPerTile
},
},
vertexShader : this.vertex_shader,
fragmentShader : this.fragment_shader
Expand Down
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