compressed_image.hpp

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namespace sensor_msgs::msg {
class CompressedImage {
public:
    // This message contains a compressed image.
 
    std_msgs::msg::Header header;  
    // 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
 
    std::string format;  
    // Acceptable values:
    // jpeg, png, tiff
 
    std::vector<uint8_t> data;  
};
} // namespace sensor_msgs::msg