Image

Display raw and compressed images, as well as compressed videos, with 2D annotations like text labels, circles, and points. Superimpose 3D markers for additional context.

Supported encodings

Raw images	Compressed images	Compressed videos
8UC1	webp	h264
8UC3	jpeg	h265 (HEVC)
16UC1	jpg	vp9
32FC1	png	av1
bayer_bggr8
bayer_gbrg8
bayer_grbg8
bayer_rggb8
bgr8
bgra8
mono8
mono16
rgb8
rgba8
uyvy or yuv422
yuyv or yuv422_yuy2

Supported messages

To use this panel, your data source must provide messages conforming to 3D marker message types or one of the following supported schemas.

RawImage

framework	schema
ROS 1	sensor_msgs/Image
ROS 2	sensor_msgs/msg/Image
Custom	foxglove.RawImage

CompressedImage

framework	schema
ROS 1	sensor_msgs/CompressedImage
ROS 2	sensor_msgs/msg/CompressedImage
Custom	foxglove.CompressedImage

CompressedVideo

note

See the CompressedVideo schema documentation for information about how to correctly encode video messages.

warning

Compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about H.265 support, VP9 support, and AV1 support.

framework	schema
ROS 1	foxglove_msgs/CompressedVideo
ROS 2	foxglove_msgs/msg/CompressedVideo
Custom	foxglove.CompressedVideo

CameraCalibration

Provide optional camera calibration data to render 3D entities in the Image panel, or render images in the 3D panel. Calibration data is not required to display ImageAnnotations since they use pixel coordinates.

Foxglove supports distortion models plumb_bob and rational_polynomial.

framework	schema
ROS 1	sensor_msgs/CameraInfo
ROS 2	sensor_msgs/msg/CameraInfo
Custom	foxglove.CameraCalibration

ImageAnnotation

framework	schema
ROS 1	visualization_msgs/ImageMarker
ROS 2	visualization_msgs/msg/ImageMarker

ImageAnnotations

framework	schema
ROS 1	foxglove_msgs/ImageMarkerArray
Custom	foxglove.ImageAnnotations

Settings

General

field	description
Topic	Camera image or video topic to display
Calibration	Calibration topic to use for distortion and 3D markers
Sync annotations	Display images and 2D annotations only when their messages' timestamps match. Newly received 2D annotation messages will be buffered until a matching set can be displayed. Not yet supported for CompressedVideo topics.
Flip horizontal	Flip image across the vertical axis
Flip vertical	Flip image across the horizontal axis
Rotation	Amount of image rotation (0°, 90°, 180°, or 270°)
Color mode	Only supported for mono16 and 16UC1 images. Color map – Pre-defined color palette Gradient – Smooth transition between two custom colors
Color map	Only shown if "Color mode" is set to "Color map". For mapping mono16 and 16UC1 image values to colors: "Turbo" (Google) "Rainbow" (RViz)
Gradient	Only shown if "Color mode" is set to "Gradient". Specifies gradient color values for mono16 and 16UC1 images.
Value min	Minimum scaling value for mono16 and 16UC1 depth images (default: 0).
Value max	Maximum scaling value for mono16 and 16UC1 depth images (default: 10000).

Scene

field	description
Render stats	Display rendering performance statistics in panel corner
Background	Color of background behind the image
Label scale	Size of text labels
Ignore COLLADA <up_axis>	Ignore the <up_axis> tag in COLLADA files
Mesh up-axis	Direction of “up” when loading meshes (STL, OBJ) without orientation info ("Y-up", "Z-up")

Image annotations

2D image annotation marker topics to display.

Transforms

List of transform messages to display.

See the 3D panel docs for more information on possible settings.

Topics

List of 3D marker topics to superimpose on the image.

Custom layers

See the 3D panel docs for more information on possible settings.

User interactions

Right-click on the image to download it as a PNG file.

Click any displayed image marker to view its details.

Scroll to zoom, and drag to pan. Annotations will re-render on zoom to remain sharp.

Shortcuts

• Scroll – Zoom in and out

Troubleshooting video delay

You may see errors for foxglove.CompressedVideo topics stating that the frame being displayed is delayed a number of milliseconds from the most recent frame. If you're seeing the delay grow during playback, then this could be due to the video decoder on your platform. Video decoding behavior can vary across platforms, and some platforms may experience delays while others do not. It is possible to configure your video stream to optimize for low-latency decoding, but it may be impossible to guarantee that a video stream can be decoded with zero latency on all platforms.

Some tips on how configure the video encoding to best achieve low-latency decoding:

• Use the BASELINE profile for h264 encoded streams. This profile is preferred because it does not support B frames. Profiles which support B frames may introduce decoding delay, even if the encoded stream doesn't actually contain B frames.
• Disable frame reordering on your encoder.
• Lower profile levels (level_idc) usually require smaller buffers, resulting in lower-latency decoding.
• If your encoder allows it, use a bitstream_restriction in the VUI parameters to limit the size of the buffer (max_dec_frame_buffering) and also disable frame reordering (max_num_reorder_frames).

If you see that the video delay increases significantly during playback that likely means that the video decoder can't keep up with your stream, and you'll want to reduce the number of your panels displaying video streams and/or check that your platform supports video acceleration. Read on to see more information.

System CPU load and power consumption may also contribute to decoding delays. Hardware-accelerated decoding is generally faster and more energy-efficient. Make sure to check that it is enabled.

These steps can help your platform achieve low-latency decoding, but there is no guarantee depending on the platform and device being used.

Checking video acceleration

You can check whether your platform supports hardware-accelerated video decoding by opening Google Chrome and entering chrome://gpu in the address bar. If you do not see Video Decode: Hardware accelerated or the Video Acceleration section is empty on this page, but you believe that it should be supported, then you may need to take additional platform-specific steps to enable it.

The desktop app uses Electron (based on Chromium), and should automatically use hardware acceleration when available. If you're seeing issues here, we recommend following the steps above to see if the same issue exists in Chrome. If so, there's a good chance it's affecting our application for the same reasons. We recommend getting things working in Chrome first, and if the desktop app is still having issues afterward please let us know and we'll look into it.

Enabling video acceleration

Tips for Foxglove web in Chromium browsers:

• Go to chrome://settings, search your settings for acceleration and ensure that the "Use graphics acceleration when available" toggle is enabled.
• Go to chrome://flags, search for video and ensure that "Hardware-accelerated video decode" is enabled.

MacOS:

• For web, significant performance gains have been observed when changing the graphics backend to use "Metal" in Chromium-based browsers. You can do this in about://flags.

On Linux:

• Note that Chrome/Chromium doesn't support video acceleration on Linux by default and custom Chrome/Chromium flags may need to be used to enable it with your GPU.
• Ensure that your graphics drivers are up-to-date and installed properly.

Links and resources

• Annotate camera images with image markers