Updates from ShaderMaterial to PointsMaterial in Particles.js

[carlosjoserg]

Hi,

I was having issues with the current implementation using the latest of the THREE lib, and after struggling a bit with my very bad javascript skills, I managed to make it work.

I couldn't generate the build files, since I'm on Ubuntu 16.04 and the commands in the readme file didn't work for me. If someone tells me how to do it, I'd be glad to add the build files to this PR.

I can tell you it works for me, here you can see a screenshot with two laser scans of size 0.1 (different from the default 0.05) and separate colors (different from the default 0xFFA500).

[mbredif]

Thanks for this PR.
I have managed to clean the code of #216 and incorporate this PR into #218.
Could you please test it ?

[carlosjoserg]

I don't see my changes in the build files from your branch (the one being reviewed in #218), in fact, when I try them, I see it like this and should be like above:

However, I see the Particles.js file did change, but those changes are not reflected in the build files either.

I'm not fully familiar with JS dev pipelines, but my guess is that you didn't build (that is putting all function into a single file) the ROS3D.js library? It'd be easier for me if you build it and push it (you'd need to do it eventually anyway, right?), so I can just drop the library file into my setup for a quick test.

[mbredif]

I forgot to mention that I have introduced an API change which has now a proper deprecation warning.

I looks like it impacted you because the color option moved into the material option (see pointcloud2 and kitti examples), so that the material option can directly be passed to construct a THREE.PointsMaterial.

Alternatively to this topic-wise coloring, the colorsrc/colormap options enable per-point coloring by selecting a colorsrc source field/axis and converting its per-point value to a color using a colormap function (default is constructing a THREE.Color directly from a 'rgb' field), as in the kitti example :

[jihoonl]

@carlosjoserg Hello, I just merged #218 that updates the major pipeline to visualize pointcloud2 and laserscan. Could you check if it fixes your issue? Note that Particles.js has been renamed to Points.js in favor of change in three.js.

[carlosjoserg]

Hi @jihoonl

Nope, that PR doesn't work for me. I understand Particle.js being renamed to Points.js is within LaserScan, and I'm using it like:

lidar_front_ = new ROS3D.LaserScan({
		ros : ros_,
		topic : '/device/lidar_front_left/scan',
		tfClient : tf_client_,
		size : 0.1,
		color : 0xFFA500,
		rootObject : viewer3D_.scene});

With the underscored names being previously intialized.

I'll try to figure out what changed then. I'll come back if I find it.

In the meantime I'll close the PR, since it got outdated.

Cheers, and thanks.

[mbredif]

Could you try this ? (the material defining options have been moved to their own object)

lidar_front_ = new ROS3D.LaserScan({
		ros : ros_,
		topic : '/device/lidar_front_left/scan',
		tfClient : tf_client_,
		material: { size : 0.1, color : 0xFFA500 },
		rootObject : viewer3D_.scene});

[carlosjoserg]

Thanks for the fast reply.

The colors are recognized but not the number of points, I'm only seeing one point per topic. I don't get any messages on the web console either.

The setup is the same as in the comment above.

[mbredif]

Thanks for the bug report, there was some spelling issue.
I am opening a new PR (#223) to fix that, could you please give it a try and give feedback there ?