ROS2 消息格式 Image

文件：sensor_msgs/msg/Image.msg

消息定义

原始消息定义

# This message contains an uncompressed image

# (0, 0) is at top-left corner of image


#std_msgs/Header header # Header timestamp should be acquisition time of image

# # Header frame_id should be optical frame of camera

# # origin of frame should be optical center of cameara

# # +x should point to the right in the image

# # +y should point down in the image

# # +z should point into to plane of the image

# # If the frame_id here and the frame_id of the CameraInfo

# # message associated with the image conflict

# # the behavior is undefined


#uint32 height # image height, that is, number of rows

#uint32 width # image width, that is, number of columns


# The legal values for encoding are in file src/image_encodings.cpp

# If you want to standardize a new string format, join

# ros-users@lists.ros.org and send an email proposing a new encoding.


#string encoding # Encoding of pixels -- channel meaning, ordering, size

# # taken from the list of strings in include/sensor_msgs/image_encodings.hpp


#uint8 is_bigendian # is this data bigendian?

#uint32 step # Full row length in bytes

#uint8[] data # actual matrix data, size is (step * rows)

紧凑消息定义

std_msgs/msg/Header header
uint32 height
uint32 width
string encoding
uint8 is_bigendian
uint32 step
uint8[] data