Image Viewer

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

Build

mkdir build
cd build
cmake ..
cmake --build . --config Release

Usage

# Linux
./image_viewer <src_ip> <image_topic_or_port>

# Windows
./Release/image_viewer.exe <src_ip> <image_topic_or_port>

Parameters

• src_ip: IP address of the device running Hammerhead
• image_topic_or_port: Topic name or port number (see Available Topics below)

Examples

# View raw left camera
# Use 127.0.0.1 if running on the same device as Hammerhead
./image_viewer 127.0.0.1 nodar/left/image_raw

# Use the network IP address if running on a different device
./image_viewer 10.10.1.10 nodar/left/image_raw

# View disparity map
./image_viewer 10.10.1.10 9804

# View color-blended depth
./image_viewer 10.10.1.10 nodar/color_blended_depth/image_raw

Available Camera Topics

Topic	Port	Description
nodar/left/image_raw	9800	Raw left camera
nodar/right/image_raw	9801	Raw right camera
nodar/left/image_rect	9802	Rectified left image
nodar/right/image_rect	9803	Rectified right image
nodar/disparity	9804	Disparity map
nodar/color_blended_depth/image_raw	9805	Color-coded depth visualization
nodar/topbot_raw	9813	Raw top (left) and bottom (right) camera pair
nodar/topbot_rect	9823	Rectified top (left) and bottom (right) camera pair
nodar/occupancy_map	9900	Occupancy map

Features

• Optimized for real-time performance
• Support for all image topic types

Troubleshooting

• No display appears: Check that Hammerhead is running and the IP address is correct
• Connection timeout: Verify network connectivity and firewall settings
• Invalid topic: Use one of the topics listed in the Available Topics section

Press Ctrl+C to exit the viewer.