将激光点云显示在网页上的代码

# ros3djs [](https://github.com/RobotWebTools/ros3djs/actions/workflows/main.yml) #### 3D Visualization Library for use with the ROS JavaScript Libraries For full documentation, see [the ROS wiki](http://ros.org/wiki/ros3djs) or check out some [working demos](http://robotwebtools.org/demos.html). [JSDoc](http://robotwebtools.org/jsdoc/ros3djs/current/) can be found on the Robot Web Tools website. This project is released as part of the [Robot Web Tools](http://robotwebtools.org/) effort. ### Usage Pre-built files can be found in either [ros3d.js](build/ros3d.js) or [ros3d.min.js](build/ros3d.min.js). Alternatively, you can use the current release via the Robot Web Tools CDN: ([full](https://static.robotwebtools.org/ros3djs/current/ros3d.js)) | ([min](https://static.robotwebtools.org/ros3djs/current/ros3d.min.js)) ### Dependencies ros3djs depends on: [EventEmitter2](https://github.com/hij1nx/EventEmitter2). The current supported version is 0.4.14. The current supported version can be found on the Robot Web Tools CDN: ([full](https://static.robotwebtools.org/EventEmitter2/0.4.14/eventemitter2.js)) | ([min](https://static.robotwebtools.org/EventEmitter2/0.4.14/eventemitter2.min.js)) [three.js](https://github.com/mrdoob/three.js/). The current supported version is r89. The current supported version can be found on the Robot Web Tools CDN: ([full](https://static.robotwebtools.org/threejs/r89/three.js)) | ([min](https://static.robotwebtools.org/threejs/r89/three.min.js)) [THREE.ColladaLoader](https://github.com/mrdoob/three.js/blob/master/examples/js/loaders/ColladaLoader.js). The current supported version is r89. The current supported version can be found on the Robot Web Tools CDN: ([full](https://static.robotwebtools.org/threejs/r89/ColladaLoader.js)) [THREE.STLLoader](https://github.com/mrdoob/three.js/blob/master/examples/js/loaders/STLLoader.js). The current supported version is r89. The current supported version can be found on the Robot Web Tools CDN: ([full](https://static.robotwebtools.org/threejs/r89/STLLoader.js)) (ROS)ColladaLoader. We support patched version of ColladaLoader to workaround ros-visualization/rviz#1045. This version can be found on the Robot Web Tools CDN: ([full](https://static.robotwebtools.org/ros3djs/0.18.0/ColladaLoader.js)) [roslibjs](https://github.com/RobotWebTools/roslibjs). The current supported version is 0.20.0. The current supported version can be found on the Robot Web Tools CDN: ([full](https://static.robotwebtools.org/roslibjs/0.20.0/roslib.js)) | ([min](https://static.robotwebtools.org/roslibjs/0.20.0/roslib.min.js)) ### Build [Grunt](http://gruntjs.com/) is used for building, including concatenating, minimizing, documenting, linting, and testing. ### Install Grunt and its Dependencies #### Ubuntu 14.04 1. Install Node.js and its package manager, NPM * `sudo apt-get install nodejs nodejs-legacy npm` 2. Install Grunt * `sudo npm install -g grunt-cli` * `sudo rm -rf ~/.npm ~/tmp` 3. Install the Grunt tasks specific to this project * `cd /path/to/ros3djs/` * `npm install .` 4. (Optional) To generate the documentation, you'll need to setup Java. Documentation generation is not required for patches. * `echo "export JAVA_HOME=/usr/lib/jvm/default-java/jre" >> ~/.bashrc` * `source ~/.bashrc` #### Ubuntu 12.04 1. Install Node.js and its package manager, NPM * `sudo apt-get install python-software-properties` * `sudo add-apt-repository ppa:chris-lea/node.js` * `sudo apt-get update && sudo apt-get install nodejs phantomjs` 2. Install Grunt * `sudo npm install -g grunt-cli` * `sudo rm -rf ~/.npm ~/tmp` 3. Install the Grunt tasks specific to this project * `cd /path/to/ros3djs/` * `npm install .` 4. (Optional) To generate the documentation, you'll need to setup Java. Documentation generation is not required for patches. * `echo "export JAVA_HOME=/usr/lib/jvm/default-java/jre" >> ~/.bashrc` * `source ~/.bashrc` #### OS X 1. Install Node.js and its package manager, NPM * Go to [Node.js Downloads](http://nodejs.org/download/) * Download and install the Universal pkg file. 2. Install Grunt and the test runner [Karma](http://karma-runner.github.io/) * `sudo npm install -g grunt-cli karma` 3. Install the Grunt tasks specific to this project * `cd /path/to/ros3djs/` * `npm install .` ### Build with Grunt Before proceeding, please confirm you have installed the dependencies above. To run the build tasks: 1. `cd /path/to/ros3djs/` 2. `grunt build` `grunt build` will concatenate and minimize the files under src and replace ros3d.js and ros3d.min.js in the build directory. It will also run the linter and test cases. This is what [Travis CI](https://travis-ci.org/RobotWebTools/ros3djs) runs when a Pull Request is submitted. `grunt dev` will watch for any changes to any of the src/ files and automatically concatenate and minimize the files. This is ideal for those developing as you should only have to run `grunt dev` once. `grunt doc` will rebuild all JSDoc for the project. ### Testing Utilizes [mocha](https://mochajs.org/) and [chai](http://chaijs.com/) for in browser testing. To run tests simply open `tests/index.html` in a web browser ### Examples There are a variety of [examples](examples) of the different things that can be done with ros3djs. There are also some examples of how ros3djs can be used in different environments: - [Classic html script tag inclusion](examples) - [Modular html script tag inclusion](examples/html-import)s ### License ros3djs is released with a BSD license. For full terms and conditions, see the [LICENSE](LICENSE) file. ### Authors See the [AUTHORS.md](AUTHORS.md) file for a full list of contributors.