msg: image

simple_msgs - Image

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 doubles [spacing_x, spacing_y, spacing_z].
• the image dimensions, defined as 3 int32s [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.

Examples

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.

Check the APIs!