3D

Display visualization markers in a 2D or 3D scene.

3d panel

Choose the topics to visualize in the topic picker – these selected topics will be saved and persisted in the current layout. Configure each topic using the provided "Edit topic settings" menu.

3d panel topic-picker

Supported display types

User interactions

Click any given marker in the scene to display that marker’s relevant detail – its corresponding topic, color, and coordinates – in a dialog box. Clicking on a point in a point cloud also enables exporting the point cloud message as a CSV.

3d panel clicked marker

The panel controls on the right can be used to do the following:

  • Search for text in the visualization marker messages
  • Set a target frame for the camera to follow – by default the scene will follow the center of a frame. When panning, the camera will be offset from, but stay relative to, that original frame center. If you ever get lost in a scene after panning, click "Follow" to snap the camera back to the default position.
  • Toggle the ability to follow orientation
  • Toggle between a 3D and 2D view of the scene
  • Measure distance between 2 user-specified points (only in 2D view)
  • View and edit the camera state
  • Sync camera positions across multiple 3D panels in your layout

You can click visualization markers to dynamically change the data visualized in other panels by leveraging linked variables.

First, click on any given visualization marker in the 3D panel, and then hover over the field you want to link in the dialog box that opens. Follow the prompts to link that field to a variable name of your choice. Now, whenever you click another marker under that same topic, the linked field for that new marker will update that variable value.

linked variables

For example, if you click on a visualization marker under /tracked_objects, and link the id field to $my_custom_id, the $my_custom_id variable will automatically be set to whatever that visualization marker’s id field contains (e.g. 1000). Now, if you click on another visualization marker under /tracked_objects, perhaps one with an id of 2000, that $my_custom_id variable will automatically be updated on click to 2000.

This is useful if you want to, for example, plot the selected marker’s velocity – you can open a Plot panel in your layout, and add a line for /tracked_objects{id==$my_custom_id}.velocity.

Panel settings

  • Flatten markers with a z-value of 0 to be located at the base frame's z value – Ensures that markers reference the same baseline height when rendering on a plane.
  • Automatically apply dark/light background color to text – Makes text label markers easier to read within the 3D scene.

Keyboard shortcuts

To move the camera:

  • w – Move forward
  • a – Move left
  • s – Move backward
  • d – Move right
  • z, or mouse-wheel up – Zoom in
  • x, or mouse-wheel down – Zoom out
  • Left-click + drag – Move parallel to the ground. Will disengage “follow” mode, if enabled.
  • Right-click + drag – Pan and rotate. Dragging left / right rotates around the z-axis; dragging top/bottom pans around the world's x/y axis.
  • Shift + other action – Adjusts all values to be 1/10 of baseline values; allows for more precise movements and adjustments.

Other controls:

  • t – open the topic picker
  • Esc – close the topic picker
  • Cmd + f – Search for marker text