field_boundary.rst

Field Boundary

Field Boundary is visualized using a green line strip marker

Undetected field boundary is communicated using an empty array for the points property of the incoming message. No marker will be drawn if an empty array is received.

Properties

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

Parameters

Configurable node parameters are:

• :ref:`Field Boundary Line Width (field_boundary_line_width) <field_boundary_line_width>`

Example

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

ros2 run soccer_vision_3d_rviz_markers visualizer

Set up a publisher that publishes a Field Boundary message:

ros2 topic pub soccer_vision_3d/field_boundary soccer_vision_3d_msgs/msg/FieldBoundary "
header:
  frame_id: 'camera'
points:
  - x: 1.5
    y: -2.0
    z: 0.0
  - x: 2.5
    y: -2.0
    z: 0.0
  - x: 2.5
    y: -1.0
    z: 0.0
  - x: 2.5
    y: 0.0
    z: 0.0
  - x: 2.5
    y: 1.0
    z: 0.0
  - x: 2.5
    y: 2.0
    z: 0.0
  - x: 1.5
    y: 2.0
    z: 0.0
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 field boundary with 50% transparency displayed in RViz: