sdk/0.2.2/classsensor__msgs_1_1msg_1_1_image.html

# 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)
Public Attributes
std_msgs::msg::Header	header
	Header timestamp should be acquisition time of image.

uint32_t	height
	image height, that is, number of rows

uint32_t	width
	image width, that is, number of columns

std::string	encoding
	Encoding of pixels – channel meaning, ordering, size.

uint8_t	is_bigendian
	is this data bigendian?

uint32_t	step
	Full row length in bytes.

std::vector< uint8_t >	data
	actual matrix data, size is (step * rows)