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

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