From 3c0c92d030c3af0c0566cb3c26f23297cdb63984 Mon Sep 17 00:00:00 2001 From: ijnek Date: Mon, 6 Nov 2023 03:58:08 +0000 Subject: [PATCH] sensor_msgs/CompressedImage: updated description of format field Signed-off-by: ijnek --- sensor_msgs/msg/CompressedImage.msg | 31 +++++++++++++++++++++++++++-- 1 file changed, 29 insertions(+), 2 deletions(-) diff --git a/sensor_msgs/msg/CompressedImage.msg b/sensor_msgs/msg/CompressedImage.msg index 0b0b4f53..12a724d5 100644 --- a/sensor_msgs/msg/CompressedImage.msg +++ b/sensor_msgs/msg/CompressedImage.msg @@ -8,7 +8,34 @@ std_msgs/Header header # Header timestamp should be acquisition time of image # +z should point into to plane of the image string format # Specifies the format of the data - # Acceptable values: - # jpeg, png, tiff + # Acceptable values differ by the image transport used: + # - compressed_image_transport: + # ORIG_PIXFMT; CODEC compressed [COMPRESSED_PIXFMT] + # where: + # - ORIG_PIXFMT is pixel format of the raw image, i.e. + # the content of sensor_msgs/Image/encoding with + # values from include/sensor_msgs/image_encodings.h + # - CODEC is one of [jpeg, png, tiff] + # - COMPRESSED_PIXFMT is only appended for color images + # and is the pixel format used by the compression + # algorithm. Valid values for jpeg encoding are: + # [bgr8, rgb8]. Valid values for png encoding are: + # [bgr8, rgb8, bgr16, rgb16]. + # If the field is empty or does not correspond to the + # above pattern, the image is treated as bgr8 or mono8 + # jpeg image (depending on the number of channels). + # - compressed_depth_image_transport: + # ORIG_PIXFMT; compressedDepth CODEC + # where: + # - ORIG_PIXFMT is pixel format of the raw image, i.e. + # the content of sensor_msgs/Image/encoding with + # values from include/sensor_msgs/image_encodings.h + # It is usually one of [16UC1, 32FC1]. + # - CODEC is one of [png, rvl] + # If the field is empty or does not correspond to the + # above pattern, the image is treated as png image. + # - Other image transports can store whatever values they + # need for successful decoding of the image. Refer to + # documentation of the other transports for details. uint8[] data # Compressed image buffer