Goalpost

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.

Example

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

ros2 run soccer_vision_3d_rviz_markers visualizer

Set up a publisher that publishes a Goalpost Array message:

ros2 topic pub /soccer_vision_3d/goalposts soccer_vision_3d_msgs/msg/GoalpostArray "
header:
  frame_id: 'camera'
posts:
  - bb:
      center:
        position:
          x: 2.0
          y: 0.0
          z: 0.2
      size:
        x: 0.05
        y: 0.05
        z: 0.4
    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 white goalpost with 50% transparency displayed in RViz: