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Rviz: Is it possible to overlay images on top of the camera's image?

asked 2018-03-27 11:45:46 -0600

henrytan97 gravatar image

Lets say my camera is subscribed to a topic that produces raw images and display through rviz's camera, I want to have a second node produce some images and then overlay on top of the camera's images then display.

Is this possible in ROS? I'm new to ROS too. Any answers will be very much appreciated.

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What is "rviz's camera" exactly? Are you referring to the Camera display, the Image display, or something else?

gvdhoorn gravatar image gvdhoorn  ( 2018-03-27 11:50:42 -0600 )edit

I'm referring to the Camera display. Thanks

henrytan97 gravatar image henrytan97  ( 2018-03-27 11:56:47 -0600 )edit

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answered 2018-03-27 12:06:42 -0600

gvdhoorn gravatar image

updated 2018-03-27 12:07:24 -0600

I'm not aware of any way to make the Camera display do what you want. It only takes in a single Image topic (together with a CameraInfo one).

You could perhaps place the images produced by the "second node" somewhere in RViz's 3D scene (and in the viewport of the Camera display). See #q227304 for a plugin that can do that.

Alternatively, you could perhaps merge / overlay / blend the image(s) (streams) first, publish the result and then subscribe the Camera display to that.

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Cool, thank you very much for that.

henrytan97 gravatar image henrytan97  ( 2018-03-27 12:12:00 -0600 )edit

answered 2018-04-03 17:09:42 -0600

Mark Rose gravatar image

We're overlaying other information on top of the camera images, but we're doing that by subscribing to the camera images in a node, marking them up using OpenCV, and then publishing the result images, which we display in rviz. So there is only one image topic that contains the entire image to display, original + markup.

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Asked: 2018-03-27 11:45:46 -0600

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Last updated: Apr 03 '18