RVIZ: Efficient way to display large, incremental 2D images in 3D space

asked 2017-11-29 08:43:51 -0500

Laxnpander
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Hey guys,

as the title states, I am looking for an efficient way to display a large, incrementally growing, high resolution image in 3d space in RVIZ. Any suggestions?

My project partner are currently rendering every image on a seperate rectangle, which seems to be working. However it is eating the RAM for breakfast, which is not ideal.

Best regards,

Alex

answered 2017-11-29 10:45:13 -0500

lucasw

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Take a look at https://github.com/lucasw/rviz_textur... (See also #q22730).

How high is your resolution and frame rate?

When you say incrementally growing do you mean that you'd like to transmit smaller images that update a larger image (like costmap updates) rather than retransmitting the entire image every frame? It probably wouldn't be too hard to make a version of rviz_textured_quads that can work like that.

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Yes, that is what I mean! Resolution can be up to several megapixels I guess, but framerate is quite low. Maybe round about ~1 Hz. Graphics card is available.

Laxnpander ( 2017-11-29 11:39:13 -0500 )edit

Several megapixels at 1 fps doesn't sound too bad for rebroadcasting the full image, inefficient as it may be.

lucasw ( 2017-11-29 14:59:28 -0500 )edit

Ah, no that was a little misguiding. I have a stream of images that are mapped into a common reference plane. Every single image has 1 Mpix and comes with 1 FPS. The total map however is therefore at least 1 Mpix but can grow up to way beyond that.

Laxnpander ( 2017-11-29 16:47:13 -0500 )edit

I see- even with a costmap update style approach the rviz end might break down with such a huge texture. It would maybe need to be turned into tiles.

lucasw ( 2017-11-29 18:11:23 -0500 )edit

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