Image
Display raw and compressed images with 2D annotations like text labels, circles, and points. Superimpose 3D markers on these annotated images for additional context.
Supported encodings
| Raw images | Compressed images |
|---|---|
8UC1 | webp |
8UC3 | jpeg |
16UC1 | png |
32FC1 | |
bayer_bggr8 | |
bayer_gbrg8 | |
bayer_grbg8 | |
bayer_rggb8 | |
bgr8 | |
bgra8 | |
mono8 | |
mono16 | |
rgb8 | |
rgba8 | |
uyvy or yuv422 | |
yuyv or yuv422_yuy2 |
Annotations
To display 2D or 3D annotations, your robot must be publishing CameraCalibration messages for the selected camera. Once you select the Calibration topic in the panel settings, your annotation messages will refer to that data to transform themselves onto unrectified images.
For 2D annotations, go to the Image annotations section to toggle on any ImageAnnotations topic – this will overlay a combination of CircleAnnotations, PointsAnnotations, and TextAnnotations onto your selected camera image.
For 3D annotations, go to the panel settings' Topics section to toggle on any 3D marker topics.
When zooming in or out on an image, annotations will re-render to remain sharp.
User interactions
Right-click on the image to download it as a PNG file.
Click any displayed image marker to view its details.
Scroll to zoom, and drag to pan.
Settings
General
| field | description |
|---|---|
| Topic | Camera image topic to display |
| Calibration | Calibration topic to use for distortion and 3D markers |
| Sync annotations | Display images and 2D annotations only when their messages' timestamps match. Newly received 2D annotation messages will be buffered until a matching set can be displayed. |
| Flip horizontal | Flip image horizontally over a vertical axis |
| Flip vertical | Flip image vertically over a horizontal axis |
| Rotation | Rotate image by 90°, 180°, or 270° |
| Color mode | One of: Color map: pre-defined color palette Gradient: smooth transition between two custom colors |
| Color map | Only shown if "Color mode" is set to "Color map"; "Turbo" (Google) or "Rainbow" (RViz); for mapping image values to colors; only available for mono16 and 16UC1 images |
| Gradient | Only shown if "Color mode" is set to "Gradient"; specifies gradient color values; only available for mono16 and 16UC1 images |
| Value min | Minimum scaling value for depth images (default: 0); only available for mono16 and 16UC1 images |
| Value max | Maximum scaling value for depth images (default: 10000); only available for mono16 and 16UC1 images |
Scene
| field | description |
|---|---|
| Render stats | Display rendering performance statistics in panel corner |
| Background | Color of background behind the image |
| Label scale | Size of text labels |
Ignore COLLADA <up_axis> | Ignore the <up_axis> tag in COLLADA files |
| Mesh up axis | Direction of “up” when loading meshes (STL, OBJ) without orientation info ("Y-up", "Z-up") |
Image annotations
List of image annotation marker topics with display settings.
Transforms
List of transform messages to display.
See the 3D panel docs for more information on possible settings.
Topics
List of 3D marker topics to superimpose on the 2D image.
Custom layers
See the 3D panel docs for more information on possible settings.
Supported messages
To use this panel, your data source must provide messages conforming to one of the following supported schemas.
RawImage
| framework | schema |
|---|---|
| ROS 1 | sensor_msgs/Image |
| ROS 2 | sensor_msgs/msg/Image |
| Custom | foxglove.RawImage |
CompressedImage
| framework | schema |
|---|---|
| ROS 1 | sensor_msgs/CompressedImage |
| ROS 2 | sensor_msgs/msg/CompressedImage |
| Custom | foxglove.CompressedImage |
CameraCalibration
NOTE: Studio currently only supports plumb_bob and rational_polynomial for the distortion_model field value.
| framework | schema |
|---|---|
| ROS 1 | sensor_msgs/CameraInfo |
| ROS 2 | sensor_msgs/msg/CameraInfo |
| Custom | foxglove.CameraCalibration |
ImageAnnotation
| framework | schema |
|---|---|
| ROS 1 | visualization_msgs/ImageMarker |
| ROS 2 | visualization_msgs/msg/ImageMarker |
ImageAnnotations
| framework | schema |
|---|---|
| ROS 1 | foxglove_msgs/ImageMarkerArray |
| Custom | foxglove.ImageAnnotations |
Shortcuts
- Scroll – Zoom in and out