Image Viewer

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

Installation

pip install -e examples/python/image_viewer

Usage

python image_viewer.py <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
python image_viewer.py 127.0.0.1 nodar/left/image_raw

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

# View disparity map
python image_viewer.py 10.10.1.10 9804

# View color-blended depth
python image_viewer.py 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

  • Support for all image topics (raw, rectified, disparity, depth)
  • Real-time display with OpenCV

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.