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Markers (3D Viewer)

3D Viewer

The 3D Viewer supports visualizing markers, zones, and meshes directly in the scene.
Markers can be used to annotate objects, highlight regions, display text, or render 3D models aligned with ROS data.

Mesh Marker

Supported Markers​

The viewer supports all standard ROS visualization markers, including:

  • Primitive shapes (cube, sphere, cylinder, arrow)
  • Line strips and lists
  • Text markers
  • Icons
  • Mesh resources

Markers behave consistently with ROS conventions and update dynamically as new messages arrive.

Cogniteam Public Meshes​

Mesh

Mesh

Cogniteam provides a public library of reusable 3D meshes that can be used directly in ROS marker messages.

  • Supported formats: URDF, GLB
  • Additional meshes can be uploaded easily
  • Each mesh receives a unique ID visible in the mesh URL

Example workflow:

  1. Upload or select a mesh from the public library
  2. Copy the mesh ID from the URL
  3. Reference it in the ROS marker message in mesh_resource field.

For example, to show the mesh available here

https://app.cognimbus.com/devices/edit/cefd4a49-5cd2-432b-b822-13bb5b6a1f65/1.0.0

Publish the following ROS2 marker

{
  "header": {
    "frame_id": "map",
    "stamp": {
      "sec": 0,
      "nanosec": 0
    }
  },
  "ns": "cogniteam_meshes",
  "id": 1,
  "type": 10,
  "action": 0,
  "pose": {
    "position": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    },
    "orientation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0,
      "w": 1.0
    }
  },
  "scale": {
    "x": 1.0,
    "y": 1.0,
    "z": 1.0
  },
  "color": {
    "r": 1.0,
    "g": 1.0,
    "b": 1.0,
    "a": 1.0
  },
  "mesh_resource": "cefd4a49-5cd2-432b-b822-13bb5b6a1f65",
  "mesh_use_embedded_materials": true,
  "lifetime": {
    "sec": 0,
    "nanosec": 0
  }
}

This allows consistent visualization of vehicles, objects, and custom assets across projects.

Marker Editor​

Mesh

The Marker Editor enables interactive creation and management of markers directly from the UI.

Enabling the Marker Editor​

  • Define a marker publishing stream in the Viewer Settings
  • Once enabled, the Markers panel becomes available

Editor Capabilities​

  • Add and delete markers
  • Toggle marker visibility
  • Bulk upload and download markers as JSON
  • Send all markers simultaneously to a ROS2 topic

This is especially useful for:

  • Debugging
  • Scene annotation
  • Predefining zones and reference objects

3D Marker Editing