pointcloud subcsriber more smooth bug fix

cvg · May 5, 2023 · b4eff1a · b4eff1a
1 parent 4390975
commit b4eff1a
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Showing 4 changed files with 26 additions and 10 deletions.
diff --git a/UnitySample/Assets/Scenes/PointCloudSample.unity b/UnitySample/Assets/Scenes/PointCloudSample.unity
@@ -637,11 +637,8 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 1b5029f5d0d1a754f8a40677a100352f, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  maxChunkSize: 65535
-  pointSize: 0.001
-  pointCloudElem: {fileID: 7258565985952825044, guid: 0e103885be9aa884ebc9d16411d8b804,
-    type: 3}
-  pointCloudMaterial: {fileID: 2100000, guid: 410bd770d3b6d8943be1474daa7e822c, type: 2}
+  visTopicsTabGameObject: {fileID: 0}
+  configReader: {fileID: 0}
 --- !u!1 &177338861
 GameObject:
   m_ObjectHideFlags: 0
@@ -5192,7 +5189,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   FinishedReader: 0
-  ip: 192.168.1.24
+  ip: 192.168.1.114
   port: 9090
 --- !u!4 &1119771596
 Transform:
@@ -5758,6 +5755,7 @@ GameObject:
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   - component: {fileID: 1404162258}
   - component: {fileID: 1404162257}
+  - component: {fileID: 1404162260}
   m_Layer: 0
   m_Name: VisualizationSuite
   m_TagString: Untagged
@@ -5806,6 +5804,20 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 10
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &1404162260
+MonoBehaviour:
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+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1404162256}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 1b5029f5d0d1a754f8a40677a100352f, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
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+  configReader: {fileID: 1119771595}
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diff --git a/UnitySample/Assets/Scipts/PointCloudRenderer.cs b/UnitySample/Assets/Scipts/PointCloudRenderer.cs
@@ -24,7 +24,7 @@ public class PointCloudRenderer : MonoBehaviour
 
     IEnumerator Start()
     {
-        yield return new WaitForSeconds(5f);
+        yield return new WaitUntil(() => configReader.FinishedReader);   
 
         ros = ROSConnection.GetOrCreateInstance();
         VisualizationTopicsTab vistab = visTopicsTabGameObject.GetComponent<VisualizationTopicsTab>();

diff --git a/UnitySample/Assets/Scipts/ResearchModeVideoStream.cs b/UnitySample/Assets/Scipts/ResearchModeVideoStream.cs
@@ -85,7 +85,7 @@ enum DepthSensorMode
 
     public GameObject pointCloudRendererGo;
     public Color pointColor = Color.white;
-    private PointCloudRenderer pointCloudRenderer;
+    // private PointCloudRenderer pointCloudRenderer;
 #if ENABLE_WINMD_SUPPORT
     Windows.Perception.Spatial.SpatialCoordinateSystem unityWorldOrigin;
 #endif
@@ -203,7 +203,7 @@ IEnumerator Start()
 
         if (pointCloudRendererGo != null)
         {
-            pointCloudRenderer = pointCloudRendererGo.GetComponent<PointCloudRenderer>();
+            // pointCloudRenderer = pointCloudRendererGo.GetComponent<PointCloudRenderer>();
         }
 
         tcpClient = GetComponent<TCPClient>();
@@ -579,7 +579,7 @@ private void UpdatePointCloud()
                     pointCloudVector3[i] = new Vector3(pointCloud[3 * i], pointCloud[3 * i + 1], pointCloud[3 * i + 2]);
                 }
                 text.text = "Point Cloud Length: " + pointCloudVector3.Length.ToString();
-                pointCloudRenderer.Render(pointCloudVector3, pointColor);
+                // pointCloudRenderer.Render(pointCloudVector3, pointColor);
 
                 // JULIA: Send the Vector3[] of point cloud to ROS
                 // Convert to byte[]

diff --git a/UnitySample/ProjectSettings/ProjectSettings.asset b/UnitySample/ProjectSettings/ProjectSettings.asset
@@ -248,6 +248,10 @@ PlayerSettings:
   - {fileID: 0}
   - {fileID: 0}
   - {fileID: 0}
+  - {fileID: 0}
+  - {fileID: 2420876100349834260, guid: 93290558a36e1bf479f221bb2102f8da, type: 2}
+  - {fileID: -1027307087885609928, guid: 88b27548eb377ad429d9f99648ed4213, type: 2}
+  - {fileID: 0}
   metroInputSource: 0
   wsaTransparentSwapchain: 0
   m_HolographicPauseOnTrackingLoss: 1