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3d panel has precision issues when robot is very far from root transform

See original GitHub issue

Description The 3d panel gets hilariously messed up if the robot is very far (> 1000 km) from the root transform, likely due to floating point math.

Version: v0.16
OS: Linux

Steps To Reproduce

Example bag: bug.bag.zip Created using this script.

In this bag, base_link is 5000 km from map. The marker moves away from base_link at 1m/s. Marker renders pretty well when base_link is under 100km from map, but starts getting super crazy above 5000 km, and is unviewable above 10,000km.

Expected Behavior Nice buttery-smooth animation of the marker moving across the screen.

Actual Behavior

The marker animation is messed up, and even moving the camera around results in strange animation:

https://user-images.githubusercontent.com/637671/131586680-b889ff1b-7035-4f17-ad80-7b3533850dd9.mp4

Issue Analytics

State:
Created 2 years ago
Comments:6 (5 by maintainers)

Top GitHub Comments

1reaction

amacneilcommented, Sep 9, 2021

Also noting that the best workaround for now is simply to use a “site” frame, and delete any transforms to a “map” or “world” frame from your bag. Foxglove currently always uses the topmost (root) transform in the bag for calculations.

0reactions

jhurlimancommented, Dec 8, 2021

This is fixed in https://github.com/foxglove/studio/pull/2319

https://user-images.githubusercontent.com/195374/145276757-fde87ae6-fc10-4cc5-8930-11ec4645d3c4.mov

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