marker_on_image

Subscribes to camera images and 3D markers and republishes the image with markers overlayed.

Run:

rosrun marker_on_image marker_on_image_node _in_marker_topic:="/some_markers" _in_image_topic:="/some/camera" _out_image_topic:="/some_image" _alpha:=0.3

Supported

Types:

• CUBE
• SPHERE
• LINE_STRIP
• LINE_LIST

Actions:

• ADD

Parameters

Parameter	Type	Default	Description
in_marker_topic	string	markers	Topic to receive markers (visualization_msgs/MarkerArray)
in_image_topic	string	camera/rgb/image_raw	Topic to receive camera images (sensor_msgs/Image and sensor_msgs/CameraInfo)
out_image_topic	string	camera/rgb/image_markers	Topic to publish images with overlayed markers (sensor_msgs/Image)
alpha	double	-1	Alpha to be applied to all markers. If not set (< 0), the alpha from each marker message will be used.

TODO

• Support deletion
• (Publish transparent image with only the overlays)