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

Advertising Services

• ~change_mode (image_view2/ChangeMode)

  Service interface to change interaction mode.

• ~rectangle_mode (std_srvs/Empty)
• ~grabcut_mode (std_srvs/Empty)
• ~grabcut_rect_mode (std_srvs/Empty)
• ~line_mode (std_srvs/Empty)
• ~poly_mode (std_srvs/Empty)

• ~none_mode (std_srvs/Empty)

  Service interface to change interaction mode with std_srvs/Empty service.

image_view2/ImageMarker2

image_view2/ImageMarker2 is a message to draw on image_view2 canvas.

Definition is:

byte CIRCLE=0
byte LINE_STRIP=1
byte LINE_LIST=2
byte POLYGON=3
byte POINTS=4
byte FRAMES=5
byte TEXT=6
byte LINE_STRIP3D=7
byte LINE_LIST3D=8
byte POLYGON3D=9
byte POINTS3D=10
byte TEXT3D=11
byte CIRCLE3D=12
byte ADD=0
byte REMOVE=1
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
string ns
int32 id
int32 type
int32 action
geometry_msgs/Point position
  float64 x
  float64 y
  float64 z
geometry_msgs/PointStamped position3D
  std_msgs/Header header
    uint32 seq
    time stamp
    string frame_id
  geometry_msgs/Point point
    float64 x
    float64 y
    float64 z
geometry_msgs/PoseStamped pose
  std_msgs/Header header
    uint32 seq
    time stamp
    string frame_id
  geometry_msgs/Pose pose
    geometry_msgs/Point position
      float64 x
      float64 y
      float64 z
    geometry_msgs/Quaternion orientation
      float64 x
      float64 y
      float64 z
      float64 w
float32 scale
float32 width
std_msgs/ColorRGBA outline_color
  float32 r
  float32 g
  float32 b
  float32 a
byte filled
std_msgs/ColorRGBA fill_color
  float32 r
  float32 g
  float32 b
  float32 a
duration lifetime
byte arc
float32 angle
geometry_msgs/Point[] points
  float64 x
  float64 y
  float64 z
image_view2/PointArrayStamped points3D
  std_msgs/Header header
    uint32 seq
    time stamp
    string frame_id
  geometry_msgs/Point[] points
    float64 x
    float64 y
    float64 z
std_msgs/ColorRGBA[] outline_colors
  float32 r
  float32 g
  float32 b
  float32 a
string[] frames
string text
bool left_up_origin
bool ratio_scale

Sample

You can run the sample code of image_view2

# Launch image_view2 with interactive mode
roslaunch image_view2 sample_rectangle_mouse_event.launch
# Add markers
rosrun image_view2 test-imageview2.l

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)

2.0.14 (2016-05-14)

• fix for error when using opencv3
• Contributors: Krishneel Chaudhary

2.0.13 (2016-04-29)

• Support OpenCV3
• Contributors: Kentaro Wada

2.0.12 (2016-04-18)

2.0.11 (2016-03-20)

• Fix header of screenrectangle topic to include frame_id Modified:
  • jsk_ros_patch/image_view2/image_view2.cpp
• remove dynamic_reconfigure.parameter_generator, which only used for rosbuild
• [image_view2] Keep publishing test data
• Contributors: Kei Okada, Kentaro Wada, Ryohei Ueda

2.0.10 (2016-02-13)

• [image_view2] retry 3 to avoid 'failed to launch' error
• Contributors: Kentaro Wada

2.0.9 (2015-12-14)

• [image_view2] Not test on hydro (jsk_tools/test_topic_published.py does not work on travis/jenkins) Modified: jsk_ros_patch/image_view2/CMakeLists.txt
• [image_view2] Use ccache if installed to make it fast to generate object files
• [image_view2] Install test dir for rostest after installed Modified: jsk_ros_patch/image_view2/CMakeLists.txt
• [image_view2] Refactor package.xml (sort and remove no need) Modified: jsk_ros_patch/image_view2/package.xml
• [image_view2] Test screenrectangle image with mouse event Closes https://github.com/jsk-ros-pkg/jsk_common/issues/1247 Modified: jsk_ros_patch/image_view2/package.xml Added: jsk_ros_patch/image_view2/test/publish_lena.py jsk_ros_patch/image_view2/test/publish_mouse_event.py jsk_ros_patch/image_view2/test/rectangle_mouse_event.test
• [image_view2] avoid segfo caused by minus width for rectangle
• Contributors: Kentaro Wada, Ryohei Ueda, Yu Ohara

2.0.8 (2015-12-07)

2.0.7 (2015-12-05)

2.0.6 (2015-12-02)

2.0.5 (2015-11-30)

2.0.4 (2015-11-25)

• [image_view2] Visualize depth image
• [image_view2] Describe about msg types with topics
• [image_view2] Describe about some publising topics
• [image_view2] Publish cropped image with roi Currently this is only work with rectangle mode.
• [image_view2] Describe ~interactive_mode actual value
• [image_view2] Add document about grabcut rect interaction
• [image_view2] Add document about grabcut interaction
• [image_view2] Add document about poly interaction
• [image_view2] Add document about line interaction
• [image_view2] Add documentation about rectangle mode interaction
• [image_view2] Add document about subscribing topics and advertising services
• [image_view2] Fix typo in document: ImageMarker -> ImageMarker2
• [image_view2] Add README.md
• Contributors: Kei Okada, Kentaro Wada, Ryohei Ueda

2.0.3 (2015-07-24)

2.0.2 (2015-07-07)

2.0.1 (2015-06-28)

2.0.0 (2015-06-19)

1.0.72 (2015-06-07)

• [image_view2] Fix drawing of rectangle when interaction_mode is grabcut_rect
• Contributors: Ryohei Ueda

1.0.71 (2015-05-17)

1.0.70 (2015-05-08)

1.0.69 (2015-05-05)

• [CMakeLists.txt] add depends to gen_cfg
• Contributors: Kei Okada

1.0.68 (2015-05-05)

1.0.67 (2015-05-03)

• [image_view2] add Fisheye Grid Line option
• [jsk_perception] add dynamic reconf for image_view2
• [image_view2] add grid option
• Contributors: Yuto Inagaki

1.0.66 (2015-04-03)

1.0.65 (2015-04-02)

• [image_view2] Use loner queue for event callback in order not to miss event topics
• Contributors: Ryohei Ueda

1.0.64 (2015-03-29)

• [image_view2] Clear poly mode caches when image_view2 is resetted
• [image_view2] Support poly mode to select polygonal region on image
• [image_view2] Check if input image is valid and skip if the input is invalid
• [image_view2] Do not show warning message when scale is 0
• Contributors: Ryohei Ueda

1.0.63 (2015-02-19)

• [image_view2] Publish marked image in local namespace
• [image_view2] Ignore scale=0 data in scale_interaction.py
• Contributors: Ryohei Ueda

1.0.62 (2015-02-17)

• [image_view2] Add utility script to scale mouse event from image_view2 for resized image
• [image_view2] Initialize window_selection and font variable even in no-window mode
• [image_view2] Publish rectangular region infromation even in grabcut_rect mode
• [image_view2] Reset rectangle region when changing mode
• [image_view2] Add none mode to ignore any interaction with the user
• [image_view2] Add new flag: ratio_scale to pecify size of text by ratio to the size of image
• [image_view2] Add left_up_origin flag to ImageMarker2 to draw text from left up origin
• Contributors: Ryohei Ueda

1.0.61 (2015-02-11)

• [image_view2] Add topic interface to emulate mouse event
• [image_view2] Separate main function to another cpp file
• [image_view2] Add std_srvs/Empty interface to change interaction mode
• Contributors: Ryohei Ueda

1.0.60 (2015-02-03)

1.0.59 (2015-02-03)

• Remove rosbuild files
• [image_view2] Add service to change interaction mode
• [image_view2] Support continuous publishing in line selection mode
• [image_view2] Fix timing to publish points selected in line mode
• [image_view2] Add new interaction mode to select line
• [image_view2] Do not publish region outside of the image
• [image_view2] Add ~region_continuous_publish parameter and if it's true, image_view2 will keep publishing region selected by user
• [image_view2] Do not show image if no image is available
• [image_view2] Do not use time difference to detect point or rectangle
• Contributors: Ryohei Ueda

1.0.58 (2015-01-07)

• [image_view2] Call GUI functions from main thread
• [image_view2] Add new interaction mode to image_view 2 to select foreground and background by rectangular region
• [image_view2] add mode to select foreground and background for grabcut
• [image_view2] Use opencv2 c++ function to handle window
• [image_view2] add utility function to resolve tf
• [image_view2] refactor to se smaller function
• [image_view2] Use parameter to change mode to select rectangle or freeform trajectory instad of "SHIFT KEY"
• [image_view2] Use camel case for methods and functions
• [image_view2] Separate header and cpp file for maintainance
• [image_view2] fix variable name with _ suffix and untabify indents
• [image_view2] Optimize image_view2 to decrease CPU load. 1) add ~skip_draw_rate to throttle redrawing. 2) use ros::spin if possible
• Redraw image even though no new message is available
• Add tab-width to image_view2.cpp
• Contributors: Ryohei Ueda

1.0.57 (2014-12-23)

1.0.56 (2014-12-17)

1.0.55 (2014-12-09)

1.0.54 (2014-11-15)

1.0.53 (2014-11-01)

1.0.52 (2014-10-23)

1.0.51 (2014-10-20)

1.0.50 (2014-10-20)

1.0.49 (2014-10-13)

1.0.48 (2014-10-12)

• remove depends to opencv2, since indigo depends on libopencv-dev, so we depends on cv_bridge whcih both hydro/indigo depends on it
• Contributors: Kei Okada

1.0.47 (2014-10-08)

1.0.46 (2014-10-03)

1.0.45 (2014-09-29)

1.0.44 (2014-09-26)

1.0.43 (2014-09-26)

1.0.42 (2014-09-25)

1.0.41 (2014-09-23)

1.0.40 (2014-09-19)

1.0.39 (2014-09-17)

1.0.38 (2014-09-13)

1.0.36 (2014-09-01)

1.0.35 (2014-08-16)

1.0.34 (2014-08-14)

1.0.33 (2014-07-28)

1.0.32 (2014-07-26)

1.0.31 (2014-07-23)

1.0.30 (2014-07-15)

1.0.29 (2014-07-02)

1.0.28 (2014-06-24)

1.0.27 (2014-06-10)

• publish the mouse position to movepoint topic during mouse move event
• Contributors: Ryohei Ueda

1.0.26 (2014-05-30)

1.0.25 (2014-05-26)

1.0.24 (2014-05-24)

1.0.23 (2014-05-23)

1.0.22 (2014-05-22)

1.0.21 (2014-05-20)

• does not check 0.5sec test if the image_view2 is in series mode.
• not use ros::Rate's sleep, use cvWaitKey to captuere keys to be pressed
• Contributors: Ryohei Ueda

1.0.20 (2014-05-09)

1.0.19 (2014-05-06)

1.0.18 (2014-05-04)

1.0.17 (2014-04-20)

1.0.16 (2014-04-19)

1.0.15 (2014-04-19)

1.0.14 (2014-04-19)

1.0.13 (2014-04-19)

1.0.12 (2014-04-18)

1.0.11 (2014-04-18)

1.0.10 (2014-04-17)

1.0.9 (2014-04-12)

1.0.8 (2014-04-11)

1.0.4 (2014-03-27)

• image_View2:add message_generation, message_runtime to package.xml
• in order to avoid empty catkin_LIBRARIES problem, call generate_messaegs after target_link_libraries
• fix typo CATKIN-DEPENDS -> CATKIN_DEPENDS
• Contributors: Ryohei Ueda, Kei Okada

1.0.2 (2014-03-12)

• #299: add dependency image_view2 to image_view
• fix image_view2 dependency for rosbuild environment
• Contributors: Ryohei Ueda, nozawa

1.0.1 (2014-03-07)

• added CIRCLE3D type marker sample
• add CIRCLE3D type marker
• Contributors: Kei Okada, HiroyukiMikita

1.0.0 (2014-03-05)

• set all package to 1.0.0
• install image_view2
• use rosdep instead of depend package
• add find_package PCL for catkin
• supporting series selection in addition to rectangle selection
• use image_transport parameter, it is the same as image_view
• change for updating drawing while not image comming
• adding dependency to generation_message
• add show_info parameter to display curret frame rate, see Issue 247
• catkinize image_view2
• fix all the indent and add the function to fill in the polygon
• add function to draw in the circle
• new parameter: tf_timeout
• support to set the width of a line
• add ~resize_scale_x, ~resize_scale_y parameters for using resized image
• add subscribing point click
• add points_rectangle_extractor.cpp
• changed text msg visualizationo, bigger textsize and color
• add 3d strip/list/polygon/points/text #850
• fix typo
• add use_window param
• fix for fuerte
• fix deprecated functions
• update comment for TEXT
• use scale for size of the font
• add text example
• fix putText
• check lastCommonTime
• add comments
• added a flag for action==REMOVE&&id==-1, for clear all the markers
• namespace std is needed in image_view2.cpp
• add blurry mode
• set points size to 10
• fix out_msg.encoding from TYPE_32FC1 to bgr8
• update deprecated funcitons to current function api for cam_model
• change fond and use ROS_DEBUG to display tf exception
• send TF exception error at fist 5 times
• changed debug messages for markers from ROS_INFO to ROS_DEBUG
• update to new roseus msg format
• remove deprecated codes
• update to support bayer image and move to cv2
• draw selecting rectangle every time
• add TEXT type marker, only simple outputs yet
• enable ADD/REMOVE action, lifetime, marker colors partially
• change marker_sub buffer from 1 to 10
• remove /reset_time
• publish screenpoint and screenrectangle on namespace + imagetopic_name
• add example to see gripper_tool_frame in image_view2
• remove unused function cmvision-cb
• back to previous version, which is not using subscribeCamera, becouse of slow connection of pr2-network
• rewrite using subscribeCamera
• add image_view2/
• Contributors: Manabu Saito, kazuto, Kei Okada, youhei, Xiangyu Chen, Ryohei Ueda, mikita