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58 lines
2.0 KiB
Markdown
58 lines
2.0 KiB
Markdown
# Viewing images from cameras
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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.
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See read more about [using rqt](rviz.md).
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## Viewing in a browser
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### Configuration
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Make sure that in Clever launch-file \(`~/catkin_ws/src/clever/clever/launch/clever.launch`\), starting `web_video_server` is enabled:
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```xml
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<arg name="web_video_server" default="true"/>
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```
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After the launch-file is edited, restart package `clever`:
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```bash
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sudo systemctl restart clever
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```
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### Viewing
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To view a video-stream, you have to [connect to Wi-Fi](wifi.md) of Clever \(`CLEVER-xxxx`\), navigate to page [http://192.168.11.1:8080/](http://192.168.11.1:8080/), and choose the topic.
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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:
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http://192.168.11.1:8080/stream_viewer?topic=/main_camera/image_raw&quality=1
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At the URL above, a stream from the main camera will be available in the minimum possible quality.
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Parameters `width`, `height`, etc. re also available. Read more about `web_video_server`: http://wiki.ros.org/web_video_server.
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## Browse with rqt_image_view
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To browse images with the rqt tools the user needs a computer with Ubuntu 18.04 and [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu).
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[Connect to the Clever Wi-Fi network](wifi.md) an run `rqt_image_view` with its IP-address:
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```bash
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ROS_MASTER_URI=http://192.168.11.1:11311 rqt_image_view
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```
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Choose a topic for browsing, for example `/main_camera/image_raw`:
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To reduce network load and reduce latency, use a compressed version of the topic – `/main_camera/image_raw/compressed`.
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To change the compression settings use the rqt-plugin Dynamic Reconfigure:
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Refer to [more about rviz and rqt](rviz.md).
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