image.hpp

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namespace sensor_msgs::msg {
class Image {
public:
    // This message contains an uncompressed image
    // (0, 0) is at top-left corner of 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
    // If the frame_id here and the frame_id of the CameraInfo
    // message associated with the image conflict
    // the behavior is undefined
 
    uint32_t height;  
    uint32_t width;  
 
    // 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.
 
    std::string encoding;  
    // taken from the list of strings in include/sensor_msgs/image_encodings.hpp
 
    uint8_t is_bigendian;  
    uint32_t step;  
    std::vector<uint8_t> data;  
};
} // namespace sensor_msgs::msg