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* Update exprts * (transpiler) read revision correctly * Fix typo * Make transpiler more robust More robust to whitespace; fix dot bug (dots are any character in regex); Arguments are optional to constructors * OccupancyMap* -> OcTree* Rename as to similar to OccupancyGrid*; Including seperation of all classes to their own file, needed by transpiler; Remove all seperate class property definitions; not supported by transpiler Co-authored-by: Peter Sari <sari@photoneo.com>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| /** | ||
| * @author Peter Sari - sari@photoneo.com | ||
| */ | ||
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| ROS3D.ColorOcTree = function(options) { | ||
| ROS3D.OcTree.call(this, options); | ||
| this.useOwnColor = (typeof options.palette !== 'undefined') && options.colorMode === ROS3D.OcTreeColorMode.COLOR; | ||
| }; | ||
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| ROS3D.ColorOcTree.prototype.__proto__ = ROS3D.OcTree.prototype; | ||
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| ROS3D.ColorOcTree.prototype._readNodeData = function (dataStream, node) { | ||
| node.value = dataStream.readFloat32(); // occupancy | ||
| node.color = { | ||
| r: dataStream.readUint8(), // red | ||
| g: dataStream.readUint8(), // green | ||
| b: dataStream.readUint8(), // blue | ||
| }; | ||
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| }; | ||
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| ROS3D.ColorOcTree.prototype._obtainColor = function (node) { | ||
| if (!this.useOwnColor) { return ROS3D.OcTree.prototype._obtainColor.call(this, node); } | ||
| return node.color; | ||
| }; |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| /** | ||
| * @author Peter Sari - sari@photoneo.com | ||
| */ | ||
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| /** | ||
| * Toggles voxel visibility | ||
| * | ||
| * * `occupied` - only voxels that are above or equal to the occupation threshold are shown | ||
| * * `free` - only voxels that are below the occupation threshold are shown | ||
| * * `all` - all allocated voxels are shown | ||
| */ | ||
| ROS3D.OcTreeVoxelRenderMode = { | ||
| OCCUPIED: 'occupied', | ||
| FREE: 'free', | ||
| ALL: 'all', | ||
| }; | ||
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| /** | ||
| * Coloring modes for each voxel | ||
| * | ||
| * * 'solid' - voxels will have a single solid color set by the tree globally | ||
| * * 'occupancy' - voxels are false colored by their occupancy value. Fall back for `solid` if not available. | ||
| * * 'color' - voxels will colorized by their | ||
| */ | ||
| ROS3D.OcTreeColorMode = { | ||
| SOLID: 'solid', | ||
| OCCUPANCY: 'occupancy', | ||
| COLOR: 'color' | ||
| }; | ||
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| // ----- ----- ----- ----- ----- ----- ----- ----- ----- ----- ----- ----- ----- | ||
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| /** | ||
| * Specilaization of BaseOcTree | ||
| * | ||
| * @constructor | ||
| * @param options - object with following keys: | ||
| * * inherited from BaseOctree | ||
| * * occupancyThreshold (optional) - threshold value that separates occupied and free voxels from each other. (Default: 0) | ||
| * * colorMode (optional) - Coloring mode @see ROS3D.OcTreeColorMode. | ||
| * * palette (optional) - Palette used for false-coloring (default: predefined palette) | ||
| * * paletteSclae (optional) - Scale of palette to represent a wider range of values (default: 1.) | ||
| */ | ||
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| ROS3D.OcTree = function(options) { | ||
| ROS3D.OcTreeBase.call(this, options); | ||
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| this._defaultOccupiedValue = 1.; | ||
| this._defaultFreeValue = -1.; | ||
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| this.occupancyThreshold = (typeof options.occupancyThreshold !== 'undefined') ? options.occupancyThreshold : 0.0000001; | ||
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| this.useFlatColoring = (typeof options.colorMode !== 'undefined') && options.colorMode === ROS3D.OcTreeColorMode.SOLID; | ||
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| this.palette = (typeof options.palette !== 'undefined') ? options.palette.map(color => new THREE.Color(color)) : | ||
| [ | ||
| { r: 0, g: 0, b: 128, }, // dark blue (low) | ||
| { r: 0, g: 255, b: 0, }, // green | ||
| { r: 255, g: 255, b: 0, }, // yellow (mid) | ||
| { r: 255, g: 128, b: 0, }, // orange | ||
| { r: 255, g: 0, b: 0, } // red (high) | ||
| ]; | ||
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| this.paletteScale = (typeof options.paletteScale !== 'undefined') ? options.paletteScale : 1.; | ||
| }; | ||
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| ROS3D.OcTree.prototype.__proto__ = ROS3D.OcTreeBase.prototype; | ||
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| ROS3D.OcTree.prototype._readNodeData = function (dataStream, node) { | ||
| node.value = dataStream.readFloat32(); | ||
| }; | ||
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| ROS3D.OcTree.prototype._obtainColor = function (node) { | ||
| if (this.useFlatColoring) { | ||
| return this.color; | ||
| } | ||
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| // Use a simple sigmoid curve to fit values from -inf..inf into 0..1 range | ||
| const value = 1. / (1. + Math.exp(-node.value * this.paletteScale)) * this.palette.length; // Normalize | ||
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| const intVal = Math.trunc(value); | ||
| const fracVal = value - intVal; | ||
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| if (intVal < 0) { return this.palette[0]; } | ||
| if (intVal >= this.palette.length - 1) { return this.palette[this.palette.length - 1]; } | ||
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| // Simple lerp | ||
| return { | ||
| r: fracVal * this.palette[intVal].r + (1. - fracVal) * this.palette[intVal + 1].r, | ||
| g: fracVal * this.palette[intVal].g + (1. - fracVal) * this.palette[intVal + 1].g, | ||
| b: fracVal * this.palette[intVal].b + (1. - fracVal) * this.palette[intVal + 1].b, | ||
| }; | ||
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| }; | ||
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| ROS3D.OcTree.prototype._checkOccupied = function (node) { | ||
| return node.value >= this.occupancyThreshold; | ||
| }; |
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