three-dimensional v1.2.4

visualization

3D visualization npm module for Dorabot project that does not use typescript.

Install

$ yarn add three-dimensional

or

$ npm install three-dimensional

Import

import initThree from 'three-dimensional/lib'

Call Function

initThree(robot_info, robot_collision_info, bin_position, robotData, pointCloud, id)

Note:

Five parameters needed

robot_info/robot_collision_info =[
    {
        frame_id:'', // mapping robot data child_frame_id('f_link','s_link','l_link',etc)
        filePath:'', // 3D model (.stl file) path
        color:'' // model color(default:0x3155a5)
    }
]

# Information of the elements that needed to be rendered on the scene;
init_position = [{
    size:[2.8, 0.8, 0.01], // size
    color: 0x555555, // color
    pose:[2.42, 0, 1.3], // position
    type:'', // box/conveyor/''
    draggable:false // 'if object can be dragged'
}]

# Robot position and orientation
robotData = [{
    {"child_frame_id":"gp12_rotational_fixed_base_link","frame_id":"world_frame","pose":{"orientation":{"w":1.0,"x":0.0,"y":0.0,"z":0.0},"position":{"x":0.0,"y":0.0,"z":0.0}},"stamp":{"nsec":1570594000635174919}},
}]

# Point cloud data
pointcloud: .pcd ( point cloud data) file path

# id name
id: id name of the container that render 3D visualization scene, if the value is null, it will be rendered in the body.

Note: You can set width and height of the container that render 3D visualization scene, default value is window.innerWidth and window.innerHeight.