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marking.rst

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Marking

.. tabs::

  .. tab:: Ellipse

    .. figure:: images/marking_ellipse.png
      :align: center

      Marking Ellipse is visualized using a **white, cylinder** marker

  .. tab:: Intersection

    .. figure:: images/marking_intersection.png
      :align: center

      Marking Intersection is visualized using a **magenta, line-list** marker

  .. tab:: Segment

    .. figure:: images/marking_segment.png
      :align: center

      Marking Segment is visualized using a **white, line-strip** marker

Properties

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

Parameters

Configurable node parameters are:

Example

In this example, we will manually publish all different types of markings and observe it in RViz. Start the visualizer node:

ros2 run soccer_vision_3d_rviz_markers visualizer

Set up a publisher that publishes a Marking Array with all different types of markings:

ros2 topic pub soccer_vision_3d/markings soccer_vision_3d_msgs/msg/MarkingArray "
header:
  frame_id: 'camera'
ellipses:
  - diameter: 0.1
    center:
      position:
        x: 0.75
intersections:
  - center:
      x: 1.0
      y: -2.0
    num_rays: 2
    rays:
      - x: 0.0
        y: 1.0
      - x: -1.0
        y: 0.0
  - center:
      x: 1.0
      y: 2.0
    num_rays: 2
    rays:
      - x: 0.0
        y: -1.0
      - x: -1.0
        y: 0.0
segments:
  - start:
      x: 0.5
      y: -2.0
    end:
      x: 1.0
      y: -2.0
  - start:
      x: 1.0
      y: -2.0
    end:
      x: 1.0
      y: 2.0
  - start:
      x: 1.0
      y: 2.0
    end:
      x: 0.5
      y: 2.0
"

Open RViz2 with a demo configuration:

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

You should see the markings displayed in RViz:

images/markings_rviz.png