48 lines
1.1 KiB
GDScript3
48 lines
1.1 KiB
GDScript3
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extends MeshInstance3D
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var pointcloud = PointCloud.new()
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var sum_time = 0.0
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var transparency_speed = 4.0
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var transparency_scale = 0.3 # 0.0~0.5
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var cycle_time = 3.0
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func _ready():
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pointcloud.subscribe("/perception/obstacle_segmentation/pointcloud", false)
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func _process(delta):
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sum_time += delta
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if sum_time * transparency_speed < 2 * PI:
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transparency = clamp(cos(sum_time * transparency_speed) * transparency_scale + (1 - transparency_scale), 0.0, 1.0)
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else:
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transparency = 1.0
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if (cycle_time < sum_time):
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sum_time = 0.0
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if !pointcloud.has_new():
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return
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var arr = []
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arr.resize(Mesh.ARRAY_MAX)
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var verts = PackedVector3Array()
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# var uvs = PoolVector2Array()
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# var normals = PoolVector3Array()
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# var indices = PoolIntArray()
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verts = pointcloud.get_pointcloud("map")
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# for vert in verts:
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# uvs.append(Vector2(vert.y, 0))
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arr[Mesh.ARRAY_VERTEX] = verts
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# arr[Mesh.ARRAY_TEX_UV] = uvs
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if !verts.is_empty():
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mesh.clear_surfaces()
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mesh.add_surface_from_arrays(Mesh.PRIMITIVE_POINTS, arr)
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pointcloud.set_old()
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func _on_enable_obstacle_segmentation_button_toggled(toggled_on):
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visible = toggled_on
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