Display images from any topic with sensor_msgs/Image or sensor_msgs/CompressedImage datatypes.

Select an image topic to display from the dropdown.

image panel

The following image encodings are currently supported:

  • 8UC1
  • 8UC3
  • 16UC1
  • 32FC1
  • bayer_bggr8
  • bayer_gbrg8
  • bayer_grbg8
  • bayer_rggb8
  • bgr8
  • mono8
  • mono16
  • rgb8
  • yuv422

If your robot is publishing the sensor_msgs/CameraInfo for the selected camera, you can use the dropdown to select any topic with the foxglove_msgs/ImageMarkerArray datatype to display them as markers overlaid on the camera image. For unrectified images, the image markers will be transformed based on the CameraInfo.

Note: We plan on remaining backwards compatible with our deprecated image marker array topic datatypes (studio_msgs/ImageMarkerArray, visualization_msgs/ImageMarkerArray, and webviz_msgs/ImageMarkerArray). With that said, we recommend you make the change to the supported foxglove_msgs/ImageMarkerArray datatype as soon as possible.

You can also adjust the image scale – when streaming large images, we recommend using the smallest scale necessary, to conserve bandwidth and optimize rendering speed.

image scale

Scroll to zoom, and drag to pan – by default, the maximum zoom will be set to 300%, but this value can be adjusted in the panel settings.

Panel settings

  • Synchronize images and markers – Synchronizes messages from the image topic and overlaid markers topic.
  • Bilinear smoothing – Uses bilinear interpolation to resample images and minimize visual distortion when resizing.
  • Maximum zoom – Maximum allowable zoom level.
  • Minimum value (depth images) - Minimum scaling value for depth images; defaults to 0, consistent with image_view. Currently only used for mono16 and 16UC1 images.
  • Maximum value (depth images) - Maximum scaling value for depth images; defaults to 1000, consistent with image_view. Currently only used for mono16 and 16UC1 images.
  • Image resolution - Can be set to 20%, 50%, or 100%.

Keyboard shortcuts

  • Shift + + – Zoom in
  • Shift + - – Zoom out
  • Cmd + (1 2 3 ... 9 0) – Zoom to x% (10 - 100); note that 10% may be less than the minimum available zoom size based on panel and image size