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Konstantin Eliseev
2019-01-25 18:32:04 +03:00
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# Viewing images from cameras
To view images from cameras (or other Ros topics), you can use [rviz](rviz.md), rqt, or watch them in a browser using web\_video\_server.
See read more about [using rqt](rviz.md).
## Viewing in a browser
### Configuration
Make sure that in Clever launch-file \(`~/catkin_ws/src/clever/clever/launch/clever.launch`\), starting `web_video_server` is enabled:
```xml
<arg name="web_video_server" default="true"/>
```
After the launch-file is edited, restart package `clever`:
```bash
sudo systemctl restart clever
```
### Viewing
To view a video-stream, you have to [connect to Wi-Fi](Wi-Fi.md) of Clever \(`CLEVER-xxxx`\), navigate to page [http://192.168.11.1:8080/](http://192.168.11.1:8080/), and choose the topic.
![Viewing web_video_server](../assets/web_video_server.png)
If the image is transmitted too slow, you can speed it up by changing GET parameter `quality` (from 1 to 100), which is responsible for video-stream compression, for example:
http://192.168.11.1:8080/stream_viewer?topic=/main_camera/image_raw&quality=1
At the URL above, a stream from the main camera will be available in the minimum possible quality.
Parameters `width`, `height`, etc. re also available. Read more about `web_video_server`: http://wiki.ros.org/web_video_server.
## Browse with rqt_image_view
To browse images with the rqt tools the user needs a computer with Ubuntu 16.04 и [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu).
[Connect to the Clever Wi-Fi network](wifi.md) an run `rqt_image_view` with its IP-address:
```bash
ROS_MASTER_URI=http://192.168.11.1:11311 rqt_image_view
```
Choose a topic for browsing, for example `/main_camera/image_raw`:
![rqt_image_view](../assets/rqt_image_view.jpg)
To reduce network load and reduce latency, use a compressed version of the topic – `/main_camera/image_raw/compressed`.
To change the compression settings use the rqt-plugin Dynamic Reconfigure:
![rqt_image_view+rqt_dynamic_reconfigure](../assets/rqt_image_view_dyn_rec.jpg)
Refer to [more about rviz and rqt](rviz.md).