RawImage
Raw image data
Panel Support
RawImage is used in the 3D Panel and Image Panel.
Data Structure
| Field | Type | Description |
|---|---|---|
| timestamp | time | Image timestamp |
| frame_id | string | Image reference coordinate system. The origin of the coordinate system is the optical center of the camera. +x points to the right of the image, +y points down, and +z points into the image plane. |
| width | uint32 | Image width |
| height | uint32 | Image height |
| encoding | string | Original image data encoding format |
| step | uint32 | Length of a single line in bytes |
| data | bytes | Original image data |
encoding
Supported formats: 8UC1, 8UC3, 16UC1 (Little Endian), 32FC1 (Little Endian), bayer_bggr8, bayer_gbrg8, bayer_grbg8, bayer_rggb8, bgr8, bgra8, mono8, mono16, rgb8, rgba8, uyvy or yuv422, yuyv or yuv422_yuy2
Reference Implementation
Visualization data structures are framework-agnostic and can be implemented using any supported message encoding method:
| Encoding Method | Data Structure |
|---|---|
| ROS 1 | foxglove_msgs/RawImage |
| ROS 2 | foxglove_msgs/msg/RawImage |
| JSON | foxglove.RawImage |
| Protobuf | foxglove.RawImage |
| FlatBuffers | foxglove.RawImage |
| OMG IDL | foxglove::RawImage |
You must use the data structure names specified above so that the visualization can recognize the data structure.