Field Boundary

Undetected field boundary is communicated using an empty array for the points property of the incoming message. No marker will be drawn if an empty array is received.

Properties

Marker properties are utilized to visualize properties of the incoming message:

Transparency - Detection Confidence

Detection confidence is a value between 0.0 and 1.0, or unknown (-1). Transparency of the marker is proportional to the confidence. Confidence of 1.0 is completely opaque and confidence of 0.0 is completely transparent. An unknown confidence (-1), will appear as opaque, identical to a marker with 1.0 confidence.

Parameters

Configurable node parameters are:

Field Boundary Line Width (field_boundary_line_width)

Example

In this example, we will manually publish a field boundary and observe it in RViz. Start the visualizer node:

ros2 run soccer_vision_3d_rviz_markers visualizer

Set up a publisher that publishes a Field Boundary message:

ros2 topic pub soccer_vision_3d/field_boundary soccer_vision_3d_msgs/msg/FieldBoundary "
header:
  frame_id: 'camera'
points:
  - x: 1.5
    y: -2.0
    z: 0.0
  - x: 2.5
    y: -2.0
    z: 0.0
  - x: 2.5
    y: -1.0
    z: 0.0
  - x: 2.5
    y: 0.0
    z: 0.0
  - x: 2.5
    y: 1.0
    z: 0.0
  - x: 2.5
    y: 2.0
    z: 0.0
  - x: 1.5
    y: 2.0
    z: 0.0
confidence:
  confidence: 0.5
"

Open RViz2 with a demo configuration:

rviz2 -d $(ros2 pkg prefix --share soccer_vision_3d_rviz_markers)/rviz/demo.rviz

You should see a field boundary with 50% transparency displayed in RViz: