Rviz *_LIST visualization/flickering

asked 2016-03-24 04:00:33 -0500

updated 2016-04-05 04:20:45 -0500

Anyone has a clue about the strange flickering effect affecting LINE_LIST and TRIANGLE_LIST markers in Rviz? I'm publishing three different marker-arrays

  • the first one, CYLINDER, yellow in the image (which are the waypoints in OpenStreetMaps)
  • second, the roads, LINE_LIST, green
  • third, buildings, TRIANGLE_LIST, light blue in the image.

As you can see in the video https://www.youtube.com/embed/VUCZfz9... when I move the pose inside RVIZ only the cylinders are always visible, all the *_LIST markes appear and disappear as I move the view..

only a screenshot, open the video please

Suggestions? :-)

===== UPDATE =====

William, the code is online in our github channel, and the code that provides all the parsing from OSM is inside osm_query_node.cpp. I've just created a bag-file with only the TFs and the markers plus a Rviz-Config file you need to correctly visualize everything. As you'll see, all the markers are referred to a /map frame which is the standard UTM origin, while local_map is the reference frame I use to visualize all the markers i.e. the fixed_frame in Rviz. Even if the jump is big I don't think the problem may be referred to this huge transform (I mean, some loss of precision with the variables) since the cylinders are pretty fixed in their position (and all the markers are referred to that position, also the blue GPS track you can see in the image attached to my first post).

I'm putting also a bigger bag-file recorded with the -a option, it's about 60M and here you have also the map and lot of stuff (btw I think the first one is enough). As I wrote before, my suspects are about only the LIST arrays. It seems that with those markers there is some kind of precision loss somewhere, but I can't figure out where (I've already checked and all the points seem to be Double-s).

Again, thanks for your help. Augusto

=== UPDATE 2 ===

This issue seems to be related with large TF transforms and it only affects *_LIST markers. Issue on the repository created, have a look here - github/rviz

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try setting the lifetime of your markers to 0 (infinite)

Mehdi. gravatar image Mehdi.  ( 2016-03-24 06:48:43 -0500 )edit

I've already tested that parameter, nothing changed.

But it's not that kind of problem, all the three visualization_msgs::MarkerArray share the same initialization code (except for the type, obviously) and only the visualization_msgs::Marker::CYLINDER are correctly rendered.

Augusto Luis Ballardini gravatar image Augusto Luis Ballardini  ( 2016-03-24 09:28:38 -0500 )edit

Hmm, is it possible for you to share a minimal example of this? It's hard to guess what the issue might be without looking at how you're publishing the markers. It might even be sufficient if you could provide a bag file with just the marker's and tf topics.

William gravatar image William  ( 2016-03-25 19:36:56 -0500 )edit

Hi William,

I'm pushing a bagfile and a rviz-configuration online, you should be able to download them in a few minutes. I'll update the original question with some links and description

Augusto Luis Ballardini gravatar image Augusto Luis Ballardini  ( 2016-03-26 15:35:54 -0500 )edit

Hi William, do you think it's better to insert this question as an issue in the Rviz github page?

Augusto Luis Ballardini gravatar image Augusto Luis Ballardini  ( 2016-03-29 15:58:12 -0500 )edit

I haven't had time to look into it unfortunately. You can migrate to an rviz issue if you like, but I think it's usually best to wait until you're sure it's a bug and not a question. Moving it to an issue won't have any affect on my ability to review it or impact when I'll have some time to look.

William gravatar image William  ( 2016-03-29 17:10:31 -0500 )edit

Sure, I thought that in the github version maybe the issue might have more visibility in the "rviz-community"! I'll wait, no problem at all ;-)

Augusto Luis Ballardini gravatar image Augusto Luis Ballardini  ( 2016-03-30 07:16:04 -0500 )edit

@Augusto Luis Ballardini thanks for the bag file and the rviz config. I do think this is a rendering bug with rviz (or possibly Ogre3D). I'm going to keep looking into it, can you open an issue on rviz in the meantime? Thanks again for your patience.

William gravatar image William  ( 2016-04-02 20:12:04 -0500 )edit