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 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.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.h

uint8 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

字段解析

• height
  图像的高度
• width
  图像的宽度
• encoding
  图像像素的编码格式
• is_bigendian
  数据的存储是否按照大端格式存储
• step
  代表一行的数据量（单位：byte），step除以width可以计算出一个像素所占字节，step乘以height得到一帧图像所占空间大小（单位：byte）
• data
  存储具体图像值