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.