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Point Cloud Rendering Script
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| <html> | |
| <head> | |
| <!-- you can include other scripts here --> | |
| <script src="http://cdnjs.cloudflare.com/ajax/libs/three.js/r69/three.js"></script> | |
| <script src="http://threejs.org/examples/js/controls/TrackballControls.js"></script> | |
| <script src="papertowel.json"></script> | |
| </head> | |
| <body> | |
| <script> | |
| // Globals | |
| var radius = 2; | |
| var camera, scene, renderer, controls; | |
| var geometry, material, mesh, pointcloud; | |
| init(); | |
| function init() { | |
| var contentWidth = window.innerWidth - 20; | |
| var contentHeight = window.innerHeight - 20; | |
| // Renderer | |
| renderer = new THREE.WebGLRenderer(); | |
| renderer.setSize(contentWidth, contentHeight); | |
| renderer.setClearColor(0x66CAF2, 1); | |
| document.body.appendChild(renderer.domElement); | |
| // Scene | |
| scene = new THREE.Scene(); | |
| scene.fog = new THREE.FogExp2(0x000000, 0.0009); | |
| // Point Cloud | |
| createPointCloud(); | |
| createGrid(); | |
| // Camera | |
| camera = new THREE.PerspectiveCamera(75, contentWidth / contentHeight, 1, 1000); | |
| moveCamera(dataObj); | |
| // Controls | |
| controls = new THREE.TrackballControls(camera, renderer.domElement); | |
| controls.rotateSpeed = 1.0; | |
| controls.zoomSpeed = 1.2; | |
| controls.panSpeed = 0.2; | |
| controls.noZoom = false; | |
| controls.noPan = false; | |
| controls.staticMoving = false; | |
| controls.dynamicDampingFactor = 0.3; | |
| controls.minDistance = radius * 1.1; | |
| controls.maxDistance = radius * 100; | |
| window.addEventListener('resize', onWindowResize, false); | |
| render(); | |
| }; | |
| function moveCamera(obj) { | |
| // Translation | |
| var translationData = obj['poseAtTime']['translation']; | |
| camera.position.set(translationData[0], translationData[1], translationData[2]); | |
| // Rotation | |
| var rotationData = obj['poseAtTime']['rotation']; | |
| var destination = new THREE.Quaternion().set(rotationData[0], rotationData[1], rotationData[2], rotationData[3]); | |
| camera.quaternion.slerp(destination, 0.07); | |
| camera.quaternion.normalize(); | |
| }; | |
| function createPointCloud() { | |
| var colors = []; | |
| var pointSize = 0.05; | |
| geometry = new THREE.Geometry({dynamic:true}); | |
| material = new THREE.PointCloudMaterial({size:pointSize, vertexColors:true}); | |
| // Create Dataview to deal with the byte buffer | |
| var arrayBuffer = new ArrayBuffer(dataObj['buffer'].length); | |
| var vertices = new DataView(arrayBuffer); | |
| for(var i = 0; i < dataObj['buffer'].length; i++) | |
| vertices.setUint8(i, dataObj['buffer'][i]); | |
| for(var i = 0; i < vertices.byteLength/Float32Array.BYTES_PER_ELEMENT; i+=3) { | |
| var x = vertices.getFloat32(i * Float32Array.BYTES_PER_ELEMENT, true); | |
| var y = vertices.getFloat32((i + 1) * Float32Array.BYTES_PER_ELEMENT , true) | |
| var z = vertices.getFloat32((i + 2) * Float32Array.BYTES_PER_ELEMENT, true) | |
| geometry.vertices.push(new THREE.Vector3(x, y, z)); | |
| colors.push(new THREE.Color(x, y, z)); | |
| } | |
| geometry.colors = colors; | |
| pointcloud = new THREE.PointCloud(geometry, material); | |
| scene.add(pointcloud); | |
| }; | |
| function createGrid() { | |
| var size = 200, step = 1; | |
| var geometry = new THREE.Geometry(); | |
| var material = new THREE.LineBasicMaterial({color: 0xcccccc, opacity: 0.2}); | |
| for (var i = -size; i <= size; i += step ) { | |
| geometry.vertices.push(new THREE.Vector3(-size, 0, i)); | |
| geometry.vertices.push(new THREE.Vector3( size, 0, i)); | |
| geometry.vertices.push(new THREE.Vector3(i, 0,-size)); | |
| geometry.vertices.push(new THREE.Vector3(i, 0, size)); | |
| } | |
| var line = new THREE.Line(geometry, material, THREE.LinePieces); | |
| scene.add(line); | |
| }; | |
| function renderFrustum() { | |
| var vertices = []; | |
| var geometry = new THREE.Geometry(); | |
| geometry.vertices.push(new THREE.Vector3(, 0, i)); | |
| geometry.vertices.push(new THREE.Vector3(-size, 0, i)); | |
| geometry.vertices.push(new THREE.Vector3(-size, 0, i)); | |
| geometry.vertices.push(new THREE.Vector3(-size, 0, i)); | |
| geometry.vertices.push(new THREE.Vector3(-size, 0, i)); | |
| geometry.vertices.push(new THREE.Vector3(-size, 0, i)); | |
| geometry.vertices.push(new THREE.Vector3(-size, 0, i)); | |
| geometry.vertices.push(new THREE.Vector3(-size, 0, i)); | |
| geometry.vertices.push(new THREE.Vector3(-size, 0, i)); | |
| geometry.vertices.push(new THREE.Vector3(-size, 0, i)); | |
| geometry.vertices.push(new THREE.Vector3(-size, 0, i)); | |
| geometry.vertices.push(new THREE.Vector3(-size, 0, i)); | |
| }; | |
| function togglePerspective() { | |
| // move camera | |
| // change background color | |
| // render frustum | |
| var thirdPerson = { | |
| "poseAtTime": { | |
| "translation": [0.003, 0.003, 0.02], | |
| "rotation": [0.2, 0, 0, .5] | |
| }}; | |
| moveCamera(thirdPerson); | |
| renderer.setClearColor(0xE7E6E8, 1); | |
| }; | |
| function onWindowResize() { | |
| camera.aspect = window.innerWidth / window.innerHeight; | |
| camera.updateProjectionMatrix(); | |
| controls.screen.width = width; | |
| controls.screen.height = height; | |
| renderer.setSize( window.innerWidth, window.innerHeight ); | |
| render(); | |
| }; | |
| function render() { | |
| requestAnimationFrame(render); | |
| window.onKeyDown = function(event) { | |
| if (event.keyCode === '32') { // space | |
| moveCamera(dataObj); | |
| } | |
| } | |
| controls.update(); | |
| renderer.render(scene, camera); | |
| }; | |
| </script> | |
| </body> | |
| </html> |
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