fix: pointRatio option in PointCloud2 and LaserScan

build/ros3d.js

@@ -3570,7 +3570,7 @@ ROS3D.LaserScan.prototype.processMessage = function(message){
   }
   var n = message.ranges.length;
   var j = 0;
-  for(var i=0;i<n;i+=this.points.positionRatio){
+  for(var i=0;i<n;i+=this.points.pointRatio){
     var range = message.ranges[i];
     if(range >= message.range_min && range <= message.range_max){
         var angle = message.angle_min + i * message.angle_increment;
@@ -3632,99 +3632,6 @@ ROS3D.NavSatFix = function(options) {
 ROS3D.NavSatFix.prototype.__proto__ = THREE.Object3D.prototype;
 
 
-ROS3D.NavSatFix.prototype.unsubscribe = function(){
-  if(this.rosTopic){
-    this.rosTopic.unsubscribe();
-  }
-};
-
-ROS3D.NavSatFix.prototype.subscribe = function(){
-  this.unsubscribe();
-
-  // subscribe to the topic
-  this.rosTopic = new ROSLIB.Topic({
-      ros : this.ros,
-      name : this.topicName,
-      messageType : 'sensor_msgs/NavSatFix'
-  });
-
-  this.rosTopic.subscribe(this.processMessage.bind(this));
-};
-
-ROS3D.NavSatFix.prototype.processMessage = function(message){
-  var altitude = isNaN(message.altitude) ? this.altitudeNaN : message.altitude;
-  var pt = this.convert(message.longitude, message.latitude, altitude);
-
-  // move the object3d to the gps position
-  this.object3d.position.copy(pt);
-  this.object3d.updateMatrixWorld(true);
-
-  // copy the position twice in the circular buffer
-  // the second half replicates the first to allow a single drawRange
-  this.vertices.array[3*this.next1  ] = pt.x;
-  this.vertices.array[3*this.next1+1] = pt.y;
-  this.vertices.array[3*this.next1+2] = pt.z;
-  this.vertices.array[3*this.next2  ] = pt.x;
-  this.vertices.array[3*this.next2+1] = pt.y;
-  this.vertices.array[3*this.next2+2] = pt.z;
-  this.vertices.needsUpdate = true;
-
-  this.next1 = (this.next1+1) % this.keep;
-  this.next2 = this.next1 + this.keep;
-  this.count = Math.min(this.count+1, this.keep);
-  this.geom.setDrawRange(this.next2-this.count, this.count );
-};
-
-/**
- * @author Mathieu Bredif - mathieu.bredif@ign.fr
- */
-
-/**
- * A NavSatFix client that listens to a given topic and displays a line connecting the gps fixes.
- *
- * @constructor
- * @param options - object with following keys:
- *
- *  * ros - the ROSLIB.Ros connection handle
- *  * topic - the NavSatFix topic to listen to
- *  * rootObject (optional) - the root object to add the trajectory line and the gps marker to
- *  * object3d (optional) - the object3d to be translated by the gps position
- *  * material (optional) - THREE.js material or options passed to a THREE.LineBasicMaterial, such as :
- *    * material.color (optional) - color for line
- *    * material.linewidth (optional) - line width
- *  * altitudeNaN (optional) - default altitude when the message altitude is NaN (default: 0)
- *  * keep (optional) - number of gps fix points to keep (default: 100)
- *  * convert (optional) - conversion function from lon/lat/alt to THREE.Vector3 (default: passthrough)
- */
-
-ROS3D.NavSatFix = function(options) {
-  options = options || {};
-  this.ros = options.ros;
-  this.topicName = options.topic || '/gps/fix';
-  this.rootObject = options.rootObject || new THREE.Object3D();
-  this.object3d = options.object3d || new THREE.Object3D();
-  var material = options.material || {};
-  this.altitudeNaN = options.altitudeNaN || 0;
-  this.keep = options.keep || 100;
-  this.convert = options.convert || function(lon,lat,alt) { return new THREE.Vector3(lon,lat,alt); };
-  this.count = 0;
-  this.next1 = 0;
-  this.next2 = this.keep;
-
-  this.geom = new THREE.BufferGeometry();
-  this.vertices = new THREE.BufferAttribute(new Float32Array( 6 * this.keep ), 3 );
-  this.geom.addAttribute( 'position',  this.vertices);
-  this.material = material.isMaterial ? material : new THREE.LineBasicMaterial( material );
-  this.line = new THREE.Line( this.geom, this.material );
-  this.rootObject.add(this.object3d);
-  this.rootObject.add(this.line);
-
-  this.rosTopic = undefined;
-  this.subscribe();
-};
-ROS3D.NavSatFix.prototype.__proto__ = THREE.Object3D.prototype;
-
-
 ROS3D.NavSatFix.prototype.unsubscribe = function(){
   if(this.rosTopic){
     this.rosTopic.unsubscribe();
@@ -3860,7 +3767,7 @@ ROS3D.PointCloud2.prototype.processMessage = function(msg){
       return;
   }
 
-  var n, pointRatio = this.points.positionRatio;
+  var n, pointRatio = this.points.pointRatio;
 
   if (msg.data.buffer) {
     this.points.buffer = msg.data.buffer;

src/sensors/LaserScan.js

@@ -53,7 +53,7 @@ ROS3D.LaserScan.prototype.processMessage = function(message){
   }
   var n = message.ranges.length;
   var j = 0;
-  for(var i=0;i<n;i+=this.points.positionRatio){
+  for(var i=0;i<n;i+=this.points.pointRatio){
     var range = message.ranges[i];
     if(range >= message.range_min && range <= message.range_max){
         var angle = message.angle_min + i * message.angle_increment;

src/sensors/PointCloud2.js

@@ -90,7 +90,7 @@ ROS3D.PointCloud2.prototype.processMessage = function(msg){
       return;
   }
 
-  var n, pointRatio = this.points.positionRatio;
+  var n, pointRatio = this.points.pointRatio;
 
   if (msg.data.buffer) {
     this.points.buffer = msg.data.buffer;