Obstacle

Obstacles are visualized using a black, cube marker

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 an obstacle and observe it in RViz. Start the visualizer node:

ros2 run soccer_vision_3d_rviz_markers visualizer

Set up a publisher that publishes an Obstacle Array message:

ros2 topic pub soccer_vision_3d/obstacles soccer_vision_3d_msgs/msg/ObstacleArray "
header:
  frame_id: 'camera'
obstacles:
  - bb:
      center:
        position:
          x: 2.0
          y: 0.0
          z: 0.6
      size:
        x: 0.3
        y: 0.5
        z: 1.2
    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 an obstacle with 50% transparency displayed in RViz: