image_view2

image_view2 is an extended image_view.

Features

• Draw markers on image view
• Interact with user direction

Interaction Modes

image_view2 support several mode to interact with user. You can set interaction mode by ~interaction_mode parameter or change mode by service interfaces.

• Rectangle mode (~interaction_mode:=rectangle)

  In rectangle mode, user can select region-of-interest by dragging mouse pointer.

  

  Selected regions are published to image/screenrectangle (geometry_msgs/PolygonStamped) topic.

  If user clicks on the view instead of dragging pointer, clicked position is published to image/screenpoint (geometry_msgs/PointStamped) topic.

• Line mode (~interaction_mode:=line)

  In line mode, user can select a line by dragging mouse pointer.

  

  Selected line are published to image/line (geometry_msgs/PolygonStamped) topic.

• Polygon mode (~interaction_mode:=poly)

  In polygon mode, user can select a series of closed lines. User can add line by left-click and close the lines by right-click.

  

  Selected polygon are published to image/poly (geometry_msgs/PolygonStamped) topic.

• Grabcut mode (~interaction_mode:=grabcut)

  In grabcut mode, user can select two curves. By typing Esc key, you can clear selected curves.

  

  The selected first red curve is published to image/foreground (sensor_msgs/Image) and the second green one is publiehd to image/background (sensor_msgs/Image). This mode is originally implemented to select forground and background pixels for grabcut.

• Grabcut Rectangle mode (~interaction_mode:=grabcut_rect)

  In grabcut rectangle mode, user can select two rectangles. By typing Esc key, you can clear selected rectangles.

  

  The selected first red rectangle is published to image/foreground_rect (geometry_msgs/PolygonStamped) and the second green one is publiehd to image/background_rect (geometry_msgs/PolygonStamped). This mode is originally implemented to select forground and background regions for grabcut.

ROS API

Publising Topics

• image/marked (sensor_msgs/Image)

  Image with marks drawed.

• image/screenrectangle_image (sensor_msgs/Image)

  Cropped image with user selection at Rectangle mode.

  

Subscribing Topics

• image (sensor_msgs/Image)

  Input image

• camera_info (sensor_msgs/CameraInfo)

  CameraInfo of the image. camera info is required to compute projection matrix when drawing markers.

• image_marker (image_view2/ImageMarker2)

  Marker topic.

• image/event (image_view2/MouseEvent)

  Event interface. image_view2 can handle mouse events without gui interaction. This topic is used to emulate event handling via ros topics

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Changelog for package image_view2

2.2.16 (2025-01-06)

2.2.15 (2024-12-13)

2.2.14 (2024-12-12)

2.2.13 (2023-11-09)

• Fix for Noetic (#1774)
  • test/publish_mouse_event.py: value of MouseEvent must be integer
• add test to compile on 22.04, see #1770 (#1773)
  • revert code before C++11
  • avoid boost::bind (esp. global _1) it's deprecated to use global _1 from boost for a while now and the Debian ROS packages do not provide it anymore.
  • do not specify c++ standard it break with current log4cxx which requires c++17. No, going forward it's no option to specify the standard anymore. And it's not necessary either.
• Fixed typo of Software License Agreement. and/o2r to and/or (#1764)
• Contributors: Kei Okada, Shingo Kitagawa, Iory Yanokura, v4hn

2.2.12 (2022-06-07)

• set ccache prefix only for cmake <= 3.4 (#1694)
• Contributors: Yuki Furuta

2.2.11 (2020-07-10)

• fix for noetic build (#1648)
  • fox for opencv4
  • remove signals from find_package(Boost COMPONENTS ...)
  • migrate to noetic with ROS_PYTHON_VERSION=2/3, use multiple ROS distro strategy http://wiki.ros.org/noetic/Migration
  • upgrade package.xml to format=3
• Add sample code for image_view2f( #1646)
• Contributors: Kei Okada, Naoya Yamaguchi, Shingo Kitagawa

2.2.10 (2018-11-03)

2.2.9 (2018-11-02)

2.2.8 (2018-11-01)

• Add comment about installation (#1604)
• [image_view2/image_view2.cpp] Correct grammer. 'could not found' -> could not find' (#1606)
• Contributors: Yuto Uchimi, Iori Yanokura

2.2.7 (2018-06-27)

2.2.6 (2018-01-05)

• image_view2: support kinetic (#1573)
• image_view2: fix publish_mouse_event (#1564)
• need to find pcl_ros for image_view2 (#1541)
• Contributors: Eisoku Kuroiwa, Kei Okada, Yuki Furuta

2.2.5 (2017-06-19)

2.2.4 (2017-06-14)

2.2.3 (2017-03-23)

2.2.2 (2016-12-30)

• test/publish_lena.py: lena() is not included in scipy from 0.17
• src/image_view2.cpp: add cv::waitKey for opencv3 installed from source to fix freezing issue
• Contributors: Kei Okada

2.2.1 (2016-12-13)

2.2.0 (2016-10-28)

2.1.2 (2016-09-14)

2.1.1 (2016-09-07)

2.1.0 (2016-09-06)

2.0.17 (2016-07-21)

2.0.16 (2016-06-19)

2.0.15 (2016-06-13)

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