Class: OcTreeClient

OcTreeClient(options)

new OcTreeClient(options)

An OcTree client that listens to a given OcTree topic.

Emits the following events:

'change' - there was an update or change in the marker

Parameters:
Name Type Description
options

object with following keys:

  • ros - the ROSLIB.Ros connection handle
  • topic (optional) - the map topic to listen to
  • continuous (optional) - if the map should be continuously loaded (e.g., for SLAM)
  • tfClient (optional) - the TF client handle to use for a scene node
  • compression (optional) - message compression (default: 'cbor')
  • rootObject (optional) - the root object to add this marker to
  • offsetPose (optional) - offset pose of the mao visualization, e.g. for z-offset (ROSLIB.Pose type)
  • colorMode (optional)) - colorization mode for each voxels @see RORS3D.OcTreeColorMode (default 'color')
  • color (optional) - color of the visualized map (if solid coloring option was set). Can be any value accepted by THREE.Color
  • opacity (optional) - opacity of the visualized grid (0.0 == fully transparent, 1.0 == opaque)
  • palette (optional) - list of RGB colors to be used as palette (THREE.Color)
  • paletteScale (optional) - scale favtor of palette to cover wider range of values. (default: 1)
  • voxelRenderMode (optional)- toggle between rendering modes @see ROS3D.OcTreeVoxelRenderMode. (default occupid)
Source: