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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.

image panel

Supported encodings

Raw imagesCompressed imagesCompressed videos
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.


ROS 1sensor_msgs/Image
ROS 2sensor_msgs/msg/Image


ROS 1sensor_msgs/CompressedImage
ROS 2sensor_msgs/msg/CompressedImage


Record H.264 data using the Annex B format, avoiding B frames.



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.

ROS 1sensor_msgs/CameraInfo
ROS 2sensor_msgs/msg/CameraInfo


ROS 1visualization_msgs/ImageMarker
ROS 2visualization_msgs/msg/ImageMarker


ROS 1foxglove_msgs/ImageMarkerArray



TopicCamera image or video topic to display
CalibrationCalibration topic to use for distortion and 3D markers
Sync annotationsDisplay 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 horizontalFlip image horizontally over a vertical axis
Flip verticalFlip image vertically over a horizontal axis
RotationRotate image by 90°, 180°, or 270°
Color mode
  • Color map – Pre-defined color palette
  • Gradient – Smooth transition between two custom colors
Color mapOnly shown if "Color mode" is set to "Color map".

For mapping mono16 and 16UC1 image values to colors:
  • "Turbo" (Google)
  • "Rainbow" (RViz)
GradientOnly shown if "Color mode" is set to "Gradient".

Specifies gradient color values for mono16 and 16UC1 images.
Value minMinimum scaling value for mono16 and 16UC1 depth images (default: 0).
Value maxMaximum scaling value for mono16 and 16UC1 depth images (default: 10000).


Render statsDisplay rendering performance statistics in panel corner
BackgroundColor of background behind the image
Label scaleSize of text labels
Ignore COLLADA <up_axis>Ignore the <up_axis> tag in COLLADA files
Mesh up axisDirection of “up” when loading meshes (STL, OBJ) without orientation info ("Y-up", "Z-up")

Image annotations

2D image annotation marker topics to display.


List of transform messages to display.

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


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.

download as png

Click any displayed image marker to view its details.

marker details

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


  • Scroll – Zoom in and out

Troubleshooting video delay

You may see errors for foxglove.CompressedVideo topics stating that the frame being displayed is delayed relative to the most recent frame. If the number of frames delayed is less than 10 and doesn't seem to grow after pausing, 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 frame delay increases after pausing 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.


  • 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.