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msg: image
Salvo Virga edited this page Sep 22, 2018
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A simple_msgs::Image represent a 2D or 3D image/volume. It contains the following fields:
- a
simple_msgs::Pose
: so that the image can be located in a 3D space [origin]. - a
simple_msgs::Header
: so that the image location refers to a reference frame and it is stamped [header]. - a
string
defining the image encoding [encoding]. - the pixel spacing, defined as 3
double
s [spacing_x, spacing_y, spacing_z]. - the image dimensions, defined as 3
int32
s [widht, height, depth]. - the size in bytes of the image data as
int64
[image_data]. - the number of channels of the image as
int16
[num_channels]. - the image data itself [data].
❗
The image data is templated, such that it can be uint8
, int16
(short), float
or double
.
We provide an example that shows how to send/receive simple_msgs::Image using OpenCV to read the images to send and to show them after receiving them:
Image Publisher
Image Subscriber
You can turn on the appropriate CMake flag to also build this examples, that requires OpenCV to be installed on your system.