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pointcloud.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script type="text/javascript" src="../include/threejs/three.js"></script>
<script type="text/javascript" src="../include/EventEmitter2/eventemitter2.js"></script>
<script type="text/javascript" src="../include/roslibjs/roslib.js"></script>
<script type="text/javascript" src="../build/ros3d.js"></script>
<script type="text/javascript" type="text/javascript">
/**
* Setup all visualization elements when the page is loaded.
*/
function init() {
// Connect to ROS.
var ros = new ROSLIB.Ros({
url : 'ws://192.168.2.111:9090'
});
// Create the main viewer.
var viewer = new ROS3D.Viewer({
divID : 'viewer',
width : 800,
height : 600,
antialias : true
});
// Setup a client to listen to TFs.
var tfClient = new ROSLIB.TFClient({
ros : ros,
angularThres : 0.01,
transThres : 0.01,
rate : 10.0,
fixedFrame : '/camera_link'
});
// Setup Kinect DepthCloud stream
depthCloud = new ROS3D.DepthCloud({
url : 'http://'+window.location.hostname + ':9999/streams/depthcloud_encoded.webm',
f : 525.0
});
depthCloud.startStream();
// Create Kinect scene node
var kinectNode = new ROS3D.SceneNode({
frameID : '/camera_rgb_optical_frame',
tfClient : tfClient,
object : depthCloud
});
viewer.scene.add(kinectNode);
}
</script>
</head>
<body onload="init()">
<h1>Simple DepthCloud Example</h1>
<p>Run the following commands in the terminal then go to http://localhost:9999/examples/depthcloud.html*.</p>
<ol>
<li><tt>roscore</tt></li>
<li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
<li><tt>rosrun tf2_web_republisher tf2_web_republisher</tt></li>
<li><tt>roslaunch openni_launch openni.launch depth_registration:=true</tt></li>
<li><tt>rosrun ros_web_video ros_web_video _port:=9999 _framerate:=15 _bitrate:=250000 _profile:=best _www_file_server:=true _wwwroot:=<b>/path/to/ros3djs/</b></tt></li>
<li><tt>rosrun depthcloud_encoder depthcloud_encoder_node _depth:=/camera/depth_registered/image_rect _rgb:=/camera/rgb/image_rect_color</tt></li>
</ol>
<small>*Due to a bug in the current WebGL implementations, it is not possible to serve
this file and the video stream from a different host or port number, so we need ros_web_video
to serve the html file as well. If you use Apache, you can set it up to proxy port 9999 to a subdirectory.</small><br/>
<div id="viewer"></div>
</body>
</html>