ros-rviz-point-cloud.html

<link rel="import" href="../polymer/polymer.html">
<link rel="import" href="../paper-input/paper-input.html">
<link rel="import" href="../ros-service/ros-service.html">
<link rel="import" href="imports.html">

<!--
  Version that takes in a point cloud topic.
-->
<dom-module id="ros-rviz-point-cloud">
  <template>
    <ros-service
     id="startPcService"
     on-response="_onPcStart"
     on-fail="_onPcStartFail"
     name="/start_point_cloud"
     ros="{{ros}}"
     service-type="rws_rviz/StartPointCloud"
    ></ros-service>
    <ros-service
     id="stopPcService"
     name="/stop_point_cloud"
     on-fail="_onPcStopFail"
     ros="{{ros}}"
     service-type="rws_rviz/StopPointCloud"
    ></ros-service>
    <paper-input label="Topic" value="{{topic}}" on-blur="_onOptionsChanged"></paper-input>
    <paper-input label="Camera frame ID" value="{{frameId}}" on-blur="_onOptionsChanged"></paper-input>
  </template>
  <script>
    Polymer({
      is: 'ros-rviz-point-cloud',

      properties: {
        topic: {
          type: String,
          value: '/head_mount_kinect/depth_registered/points'
        },
        frameId: {
          type: String,
          value: '/head_mount_kinect_rgb_optical_frame',
        },
        globalOptions: Object,
        isShown: Boolean,
        name: {
          type: String,
          value: 'Point cloud',
        },
        tfClient: Object,
        viewer: Object,
        ros: Object,
        _cloud: {
          type: Object,
          value: null
        },
        _oldTopic: String,
        _sceneNode: Object,
        _url: String,
        _urlTopic: String, // Backend image topic to stream.
      },

      ready: function() {
        this._updateStream();
        var that = this;
        window.addEventListener('beforeunload', function(evt) {
          that._endStream();
        });
        this.show();
      },

      destroy: function() {
        if (this._cloud) {
          this._cloud.stopStream(); 
        }
        this._endStream();
        if (this._sceneNode) {
          this.viewer.scene.remove(this._sceneNode);
          delete this._sceneNode;
        }
      },

      hide: function() {
        if (this._cloud) {
          this._cloud.stopStream();
        }
        if (this._sceneNode) {
          this.viewer.scene.remove(this._sceneNode);
        }
      },

      show: function() {
        if (!this.isShown) {
          return;
        }
        if (this._cloud) {
          this._cloud.startStream();
        }
        if (this._sceneNode) {
          this.viewer.scene.add(this._sceneNode);
        }
      },

      _updateDisplay: function() {
        var that = this;
        if (this._cloud) {
          this._cloud.stopStream();
        }
        if (!this._url) {
          return;
        }
        this._cloud = new ROS3D.DepthCloud({
          url: this._url,
          f: 525.0,
        });
        this._cloud.startStream();

        this._sceneNode = new ROS3D.SceneNode({
          frameID: this.frameId,
          tfClient: this.tfClient,
          object: this._cloud,
        });

        // TODO(jstn): I just tried this and it seemed to work.
        // Get a real understanding of what's going wrong.
        this._sceneNode.scale.x = 0.5;
        this._sceneNode.scale.y = 0.5;
        this._sceneNode.scale.z = 0.5;

        this.viewer.scene.add(this._sceneNode);
      },

      _computeUrl: function(_urlTopic) {
        var url = this.globalOptions.videoServer + '/streams' + _urlTopic + '.webm?enc=webm&bitrate=250000&framerate=15';
        return url;
      },

      _onPcStart: function(evt) {
        this._urlTopic = evt.detail.topic;
        this._url = this._computeUrl(this._urlTopic);
        this._updateDisplay();
      },

      _onOptionsChanged: function() {
        this._updateStream();
      },

      _updateStream: function() {
        this._endStream(); 
        if (!this.topic) {
          return;
        }
        this._oldTopic = this.topic;
        this.$.startPcService.call({
          topic: this.topic,
          camera_frame_id: this.frameId,
          client_id: this.globalOptions.clientId
        });
      },

      _endStream: function() {
        if (this._oldTopic) {
          this.$.stopPcService.call({
            topic: this._oldTopic,
            client_id: this.globalOptions.clientId
          });
        }
      },

      _onPcStartFail: function(evt) {
        console.error('Error starting point cloud stream', evt.detail);
      },

      _onPcStopFail: function(evt) {
        console.error('Error stopping point cloud stream', evt.detail);
      }
    });
  </script>
</dom-module>