Foxglove

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.

image panel

Supported encodings

Raw imagesCompressed images
8UC1webp
8UC3jpeg
16UC1png
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.

download as png

Click any displayed image marker to view its details.

marker details

Scroll to zoom, and drag to pan.

Settings

General

fielddescription
TopicCamera image topic to display
CalibrationCalibration topic to use for distortion and 3D markers
Sync annotationsDisplay 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 horizontalFlip image horizontally over a vertical axis
Flip verticalFlip image vertically over a horizontal axis
RotationRotate image by 90°, 180°, or 270°
Color modeOne of:
Color map: pre-defined color palette
Gradient: smooth transition between two custom colors
Color mapOnly 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
GradientOnly shown if "Color mode" is set to "Gradient"; specifies gradient color values; only available for mono16 and 16UC1 images
Value minMinimum scaling value for depth images (default: 0); only available for mono16 and 16UC1 images
Value maxMaximum scaling value for depth images (default: 10000); only available for mono16 and 16UC1 images

Scene

fielddescription
Render statsDisplay rendering performance statistics in panel corner
BackgroundColor of background behind the image
Label scaleSize of text labels
Ignore COLLADA <up_axis>Ignore the <up_axis> tag in COLLADA files
Mesh up axisDirection 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

frameworkschema
ROS 1sensor_msgs/Image
ROS 2sensor_msgs/msg/Image
Customfoxglove.RawImage

CompressedImage

frameworkschema
ROS 1sensor_msgs/CompressedImage
ROS 2sensor_msgs/msg/CompressedImage
Customfoxglove.CompressedImage

CameraCalibration

NOTE: Studio currently only supports plumb_bob and rational_polynomial for the distortion_model field value.

frameworkschema
ROS 1sensor_msgs/CameraInfo
ROS 2sensor_msgs/msg/CameraInfo
Customfoxglove.CameraCalibration

ImageAnnotation

frameworkschema
ROS 1visualization_msgs/ImageMarker
ROS 2visualization_msgs/msg/ImageMarker

ImageAnnotations

frameworkschema
ROS 1foxglove_msgs/ImageMarkerArray
Customfoxglove.ImageAnnotations

Shortcuts

  • Scroll – Zoom in and out

Additional resources