How to add custom Image command into ThreeDimensionalViz?

[xiaodongzhao]

Hi,
Is it possible to add a custom command into ThreeDimensionalViz?
I would like to display map images in ThreeDimensionalViz, for example, using the code from
#225.

Is it possible to do so? what are the steps needed? Thanks

[janpaul123]

This is not officially supported, for maps I'd recommend using OccupancyGrid. We'd like to support this in the future though. But of course you can always fork our repo and attempt to do it manually, but that's not straightforward.

[vidaaudrey]

If you have some marker format that are not currently supported, you could add it to renderAdditionalMarkers hook and apply your custom command:

https://github.com/cruise-automation/webviz/blob/master/packages/webviz-core/src/panels/ThreeDimensionalViz/World.js#L128-L130

[xiaodongzhao]

This is not officially supported, for maps I'd recommend using OccupancyGrid. We'd like to support this in the future though. But of course you can always fork our repo and attempt to do it manually, but that's not straightforward.

Thanks @janpaul123 and @vidaaudrey , OccupancyGrid is a good solution, however we need to display coloured image maps. Do you have other suggestions for displaying colour images? I tried using PointCloud as well, but it didn’t scale when zoomed.

[janpaul123]

That's a great idea. I don't think we currently support that. Our reference implementation for the 3d panel is RViz, do you happen to know if this is possible there? I could only find it as a custom plugin: https://github.com/lucasw/rviz_textured_quads/tree/image_topic and it's not entirely clear what kind of message definition they use.

[xiaodongzhao]

It seems https://github.com/lucasw/rviz_textured_quads/tree/image_topic is using Image and TF frame, while the original (https://github.com/MohitShridhar/rviz_textured_quads) is using a customized message. I don't think RViz supports display images in the 3D scene.

[janpaul123]

Image and TF frame

Interesting; yeah you can position the image using the frame_id, but I don't think there's enough information in those messages right now to know what the width and height in 3d-space should be? I wonder how they do that; maybe they let you just manually configure that? A customized message might be better if you want to control those dimensions programatically.

In any case, we don't have plans to implement this right now, but we'd happily take a PR if you want to give it a shot.

[janpaul123]

Btw I set up a Slack workspace to make it easier for us to chat; join us using the link here: #461