DepthCloud: support custom resolutions properly

RobotWebTools · Jan 29, 2019 · 27dbf62 · 27dbf62
1 parent 80f6fde
commit 27dbf62
Showing 1 changed file with 8 additions and 4 deletions.
diff --git a/src/depthcloud/DepthCloud.js b/src/depthcloud/DepthCloud.js
@@ -29,11 +29,10 @@ ROS3D.DepthCloud = function(options) {
   this.pointSize = options.pointSize || 3;
   this.width = options.width || 1024;
   this.height = options.height || 1024;
+  this.resolutionFactor = Math.max(this.width, this.height) / 1024;
   this.whiteness = options.whiteness || 0;
   this.varianceThreshold = options.varianceThreshold || 0.000016667;
 
-  var metaLoaded = false;
-
   this.isMjpeg = this.streamType.toLowerCase() === 'mjpeg';
 
   this.video = document.createElement(this.isMjpeg ? 'img' : 'video');
@@ -60,6 +59,7 @@ ROS3D.DepthCloud = function(options) {
     '',
     'uniform float focallength;',
     'uniform float maxDepthPerTile;',
+    'uniform float resolutionFactor;',
     '',
     'varying vec2 vUvP;',
     'varying vec2 colorP;',
@@ -163,8 +163,8 @@ ROS3D.DepthCloud = function(options) {
     '    float z = -depth;',
     '    ',
     '    pos = vec4(',
-    '      ( position.x / width - 0.5 ) * z * 0.5 * maxDepthPerTile * (1000.0/focallength) * -1.0,',
-    '      ( position.y / height - 0.5 ) * z * 0.5 * maxDepthPerTile * (1000.0/focallength),',
+    '      ( position.x / width - 0.5 ) * z * 0.5 * maxDepthPerTile * resolutionFactor * (1000.0/focallength) * -1.0,',
+    '      ( position.y / height - 0.5 ) * z * 0.5 * maxDepthPerTile * resolutionFactor * (1000.0/focallength),',
     '      (- z + zOffset / 1000.0) * maxDepthPerTile,',
     '      1.0);',
     '    ',
@@ -285,6 +285,10 @@ ROS3D.DepthCloud.prototype.initStreamer = function() {
           type : 'f',
           value : this.maxDepthPerTile
         },
+        'resolutionFactor': {
+          type : 'f',
+          value : this.resolutionFactor
+        },
       },
       vertexShader : this.vertex_shader,
       fragmentShader : this.fragment_shader