Image Viewer

Real-time OpenCV viewer for stereo images, disparity maps, and depth data published by Hammerhead.

Build

cd hammerhead_ros2
colcon build --packages-up-to image_viewer_py

Usage

# Source the workspace
source install/setup.bash

ros2 run image_viewer_py image_viewer_py <image_topic>

Parameters

image_topic: ROS2 topic name that provides sensor_msgs::msg::Image messages

Examples

# Source the workspace
source install/setup.bash

# View raw left camera
ros2 run image_viewer_py image_viewer_py /nodar/left/image_raw

# View disparity map
ros2 run image_viewer_py image_viewer_py /nodar/disparity

Available Image Topics

Topic	Description
`/nodar/left/image_raw`	Raw left camera
`/nodar/right/image_raw`	Raw right camera
`/nodar/left/image_rect`	Rectified left image
`/nodar/right/image_rect`	Rectified right image
`/nodar/disparity`	Disparity map
`/nodar/color_blended_depth/image_raw`	Color-coded depth visualization

Features

Support for all image topic types
Real-time display with OpenCV

Integration with ROS2 Tools

There is nothing special about the image topics published by Hammerhead. You can also view then with tools like rviz2 and rqt.

Troubleshooting

No display appears: Check that Hammerhead is running and publishing image topics
Topic not found: Verify the topic name using ros2 topic list
Build errors: Ensure all dependencies are installed and workspace is sourced

Press Ctrl+C to exit the viewer.