.. 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
Marker properties are utilized to visualize properties of the incoming message:
Configurable node parameters are:
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: