Robot

The player number of the robot is displayed above the cube marker, if provided.

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.

Color - Team

Team of a robot is classified as own, opponent or otherwise unknown. An own robot is green, opponent is red and unknown is white.
Number Marker - Player Number

Player number of a robot is displayed above the cube marker, if provided. If player number is unknown, the player number will not be displayed above the cube marker.

Example

In this example, we will manually publish a robot array with one teammate (green) and one opponent (red) and observe it in RViz. Start the visualizer node:

ros2 run soccer_vision_3d_rviz_markers visualizer

Set up a publisher that publishes the robot array with one teammate and one opponent robot:

ros2 topic pub /soccer_vision_3d/robots soccer_vision_3d_msgs/msg/RobotArray "
header:
  frame_id: 'camera'
robots:
  - bb:
      center:
        position:
          x: 1.0
          y: 0.5
          z: 0.3
      size:
        x: 0.3
        y: 0.3
        z: 0.6
    attributes:
      player_number: 1
      team: 1
  - bb:
      center:
        position:
          x: 1.0
          y: -0.5
          z: 0.2
      size:
        x: 0.2
        y: 0.2
        z: 0.4
    attributes:
      player_number: 3
      team: 2
  - bb:
      center:
        position:
          x: 0.0
          y: -1.5
          z: 0.4
      size:
        x: 0.4
        y: 0.4
        z: 0.8
    attributes:
      player_number: 4
"

Open RViz2 with a demo configuration:

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

You should see the robots displayed in RViz: