Add OverlayImage and OverlayCamera displays and an OverlayPicker tool - #1830
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iory wants to merge 3 commits into
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Add OverlayImage and OverlayCamera displays and an OverlayPicker tool#1830iory wants to merge 3 commits into
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Displays a sensor_msgs/msg/Image as a 2D overlay on top of the 3D scene, with alpha, aspect ratio and placement properties. The shared Ogre overlay helper derives from jsk_rviz_plugins (BSD-3-Clause); decoding reuses ROSImageTexture. Signed-off-by: Iori Yanokura <ab.ioryz@gmail.com>
Dragging with the tool active moves the overlay under the cursor. The move is written through the left/top properties, so it shows in the property tree and is saved to the config. Ported from jsk_rviz_plugins (BSD-3-Clause). Signed-off-by: Iori Yanokura <ab.ioryz@gmail.com>
Composites the camera view into the main 3D view. Renders into an offscreen Ogre render texture, since rviz2's QWindow-based render window draws nothing while hidden, with overlays disabled on that viewport so the overlay texture is not fed back into itself. Signed-off-by: Iori Yanokura <ab.ioryz@gmail.com>
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Tested on ROS 2 Rolling inside Docker running Ubuntu 26.04 LTS with a physical USB camera (
No issues observed. |
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Ports OverlayImage, OverlayCamera and OverlayPicker from
jsk_rviz_plugins. The camera image isdrawn as a screen-fixed 2D overlay on top of the 3D scene (OverlayImage) or composited with it
(OverlayCamera), and the tool drags those overlays around, writing the position back to the
display's Left/Top properties. Additive only: no existing display changes behaviour, and no new
dependencies.
Verified on a real USB camera (640x480 rgb8, 31 fps) — demo video below, plus unit tests for the
overlay geometry and for the picker's grid snapping. The three commits each build and test on
their own, so the OverlayCamera commit can be dropped if it is not wanted.
Generative AI: codex (gpt-5.3-codex).
jsk_overlay_demo.mp4