unity-PointCloudStreaming

This repo contain some unity scripts for point cloud streaming.

Tutorial

PCS setup

unity side

(1) Clone this repo under your unity project Asset/

$ git clone https://github.com/ARG-NCTU/unity-PointTrobleCloudStreaming

(2-1) Download opencvsharp on NAS and add into your unity project.

(2-2) Change settings in Edit/Project Settings/Player/Other Setting/Configuration

1. change Scripting Backend to Mono
2. change Active Input Handling to Both

then,unity will reopen the project

(3) There are two objects you need in your unity project

Note

you can try example_scene in unity-PointCloudStreaming folder

• Camera_view
• PCS_test

(4) Drag Camera_view into Update_rosip/Desired_object and change your rosIP

ROS side

(1) You need a camera to send Depth image and RGB image

Note

type:Sensor.CompressedImage

(2) Check your IP and you will need in unity side

$ ifconfig

(3) Launch rosbridge

$ launch rosbridge_server rosbridge_websocket.launch

(4) Get camera info and add to PCS_test/RGBD Merger(Script) in unity side

$ rostopic echo /camera_left/color/camera_info

Problem solving

If you meet unity material gray out can't edit for object like the figure below.

You can create a new material in your project window and drag it on the object, then you should be able to edit it.