3d Rendering

3D Rendering Skill

THREE.js Integration

Renderer Setup

const renderer = new THREE.WebGLRenderer({
  canvas,
  antialias: true,
  alpha: true,
});
renderer.setPixelRatio(window.devicePixelRatio);
renderer.outputColorSpace = THREE.SRGBColorSpace;

Render Loop

• Driven by requestAnimationFrame
• Each frame: update transforms → update extensions → render scene
• No double-buffering needed (WebGL handles swap)

DynamicBufferGeometry Details

packages/suite-base/src/panels/ThreeDeeRender/DynamicBufferGeometry.ts:

class DynamicBufferGeometry extends THREE.BufferGeometry {
  // Grows to EXACTLY itemCount when capacity is exceeded — no geometric doubling.
  resize(itemCount: number): void {
    this.setDrawRange(0, itemCount);
    if (itemCount <= this.#itemCapacity) {
      return; // capacity sufficient — only the draw range changed
    }
    // For each attribute, allocate a NEW typed array of exactly itemCount * itemSize
    // (old data is NOT copied; callers refill the buffer after resize)
    this.#itemCapacity = itemCount;
  }
}

Growth Behavior (Important)

• resize(itemCount) always calls setDrawRange(0, itemCount) first
• If itemCount <= itemCapacity, it returns early — buffers are reused, only the draw range moves
• If itemCount > itemCapacity, each attribute is reallocated to exactly itemCount * itemSize (no * 2 over-allocation, no copy of existing data)
• Capacity only ever grows; it is never shrunk below a previous high-water mark

⚠️ Do not assume geometric/amortized doubling here. Repeatedly increasing the count by small increments reallocates every time, so callers that know a target size should resize to it once.

Point Cloud Rendering

Data Flow

Raw message (PointCloud2)
    │
    ▼
Decode fields (x, y, z, rgb, intensity)
    │
    ▼
Fill position buffer (Float32Array)
Fill color buffer (Uint8Array)
    │
    ▼
Upload to GPU (BufferAttribute.needsUpdate = true)
    │
    ▼
Render with THREE.Points or InstancedMesh

Decay History

• Configurable decayTime in seconds
• Old points are culled by sliding the drawRange start forward
• Ring-buffer approach: write position wraps around, draw range skips old data
• Avoids array shifting (O(1) per frame instead of O(n))

Point Budget

• Too many points → GPU bottleneck
• filterQueue: processes messages in batches per frame
• Downsampling: skip points when exceeding budget

Transform Resolution

TF Tree Structure

world (root)
├── base_link
│   ├── lidar_link
│   ├── camera_link
│   └── imu_link
└── map
    └── odom
        └── base_link (loop via static transform)

Time-based Lookup

// TransformTree.apply has an 8-argument signature:
const pose = transformTree.apply(
  output,       // Pose written in place (returned, or undefined on failure)
  input,        // Readonly<Pose> source pose
  frameId,      // destination/target frame
  rootFrameId,  // optional explicit root frame (defaults to frame.root())
  srcFrameId,   // source frame
  dstTime,      // Time to evaluate the destination frame at
  srcTime,      // Time to evaluate the source frame at
  maxDelta,     // optional Duration cap on extrapolation
);

• Defined in packages/suite-base/src/panels/ThreeDeeRender/transforms/TransformTree.ts
• Writes into the provided output Pose and returns it (or undefined if a frame is missing)
• Interpolates between stored transforms at query time; maxDelta caps extrapolation from stale data

Instanced Rendering

For many identical objects (markers, arrows):

const mesh = new THREE.InstancedMesh(geometry, material, maxCount);
// Update per-instance transform
mesh.setMatrixAt(index, matrix);
mesh.instanceMatrix.needsUpdate = true;

• Single draw call for all instances
• Massively reduces draw call overhead (100→1 for 100 markers)
• maxCount determines GPU buffer allocation — avoid over-allocation

Shader Considerations

• Custom materials extend THREE.ShaderMaterial or THREE.RawShaderMaterial
• Point size attenuation: points shrink with distance (sizeAttenuation: true)
• Color mapping: intensity → color lookup via uniform texture
• Vertex colors: per-point coloring via vertexColors: true on material

Performance Optimization Checklist

1. ✅ Use DynamicBufferGeometry — never new BufferGeometry() per frame
2. ✅ Set needsUpdate = true only on changed attributes
3. ✅ Use InstancedMesh for repeated geometries (>10 instances)
4. ✅ Dispose materials/geometries on removal (prevents GPU memory leak)
5. ✅ Frustum culling enabled (default in THREE.js)
6. ✅ Reuse temporary Vector3/Matrix4 instances (object pool pattern)
7. ✅ Limit point count with decay + budget
8. ❌ Never create new THREE.Material per frame
9. ❌ Never call renderer.render() if scene hasn't changed
10. ❌ Never use traverse() in hot path — cache node references