ROS常用消息之Image

链接: sensor_msgs/Image Message

文件位置

链接: File: sensor_msgs/Image.msg

Raw Message Definition

# This message contains an uncompressed image
# (0, 0) is at top-left corner of image
#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 camera# +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 undefineduint32 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.sourceforge.net 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.huint8 is_bigendian    # is this data bigendian?
uint32 step           # Full row length in bytes
uint8[] data          # actual matrix data, size is (step * rows)

Compact Message Definition

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