examples/pointcloud2.html

<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />

<script src="https://cdn.jsdelivr.net/npm/three@0.89.0/build/three.min.js"></script>
<script src="https://cdn.jsdelivr.net/npm/eventemitter3@5.0/dist/eventemitter3.umd.min.js"></script>
<script src="https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.js"></script>
<script src="../build/ros3d.js"></script>

<script>
  /**
   * Setup all visualization elements when the page is loaded.
   */
  function init() {
    // Connect to ROS.
    var ros = new ROSLIB.Ros({
      url : 'ws://localhost:9090'
    });

    // Create the main viewer.
    var viewer = new ROS3D.Viewer({
      divID : 'viewer',
      width : 800,
      height : 600,
      antialias : true
    });

    // Setup a client to listen to TFs.
    var tfClient = new ROSLIB.TFClient({
      ros : ros,
      angularThres : 0.01,
      transThres : 0.01,
      rate : 10.0,
      fixedFrame : '/camera_link'
    });

    var cloudClient = new ROS3D.PointCloud2({
        ros: ros,
        tfClient: tfClient,
        rootObject: viewer.scene,
        topic: '/camera/depth_registered/points',
        material: { size: 0.05, color: 0xff00ff }
    });
  }
</script>
</head>

<body onload="init()">
  <h1>Simple PointCloud2 Example</h1>
  <p>Run the following commands in the terminal then refresh the page.</p>
  <ol>
    <li><tt>roscore</tt></li>
    <li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
    <li><tt>rosrun tf2_web_republisher tf2_web_republisher</tt></li>
    <li><tt>roslaunch openni_launch openni.launch depth_registration:=true</tt></li>
  </ol>
  <div id="viewer"></div>
</body>
</html>