RawImage

A raw image

Panel support

RawImage is used in the 3D and Image panels.

Schema

field	type	description
timestamp	Timestamp	Timestamp of image
frame_id	string	Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
width	uint32	Image width in pixels
height	uint32	Image height in pixels
encoding	string	Encoding of the raw image data. See the data field description for supported values.
step	uint32	Byte length of a single row. This is usually some multiple of width depending on the encoding, but can be greater to incorporate padding.
data	bytes	Raw image data.

data

For each encoding value, the data field contains image pixel data serialized as follows:

• yuv422 or uyvy:
  • Pixel colors are decomposed into Y'UV channels.
  • Pixel channel values are represented as unsigned 8-bit integers.
  • U and V values are shared between horizontal pairs of pixels. Each pair of output pixels is serialized as [U, Y1, V, Y2].
  • step must be greater than or equal to width * 2.
• yuv422_yuy2 or yuyv:
  • Pixel colors are decomposed into Y'UV channels.
  • Pixel channel values are represented as unsigned 8-bit integers.
  • U and V values are shared between horizontal pairs of pixels. Each pair of output pixels is encoded as [Y1, U, Y2, V].
  • step must be greater than or equal to width * 2.
• rgb8:
  • Pixel colors are decomposed into Red, Green, and Blue channels.
  • Pixel channel values are represented as unsigned 8-bit integers.
  • Each output pixel is serialized as [R, G, B].
  • step must be greater than or equal to width * 3.
• rgba8:
  • Pixel colors are decomposed into Red, Green, Blue, and Alpha channels.
  • Pixel channel values are represented as unsigned 8-bit integers.
  • Each output pixel is serialized as [R, G, B, Alpha].
  • step must be greater than or equal to width * 4.
• bgr8 or 8UC3:
  • Pixel colors are decomposed into Red, Blue, Green, and Alpha channels.
  • Pixel channel values are represented as unsigned 8-bit integers.
  • Each output pixel is serialized as [B, G, R].
  • step must be greater than or equal to width * 3.
• bgra8:
  • Pixel colors are decomposed into Blue, Green, Red, and Alpha channels.
  • Pixel channel values are represented as unsigned 8-bit integers.
  • Each output pixel is encoded as [B, G, R, Alpha].
  • step must be greater than or equal to width * 4.
• 32FC1:
  • Pixel brightness is represented as a single-channel, 32-bit little-endian IEEE 754 floating-point value, ranging from 0.0 (black) to 1.0 (white).
  • step must be greater than or equal to width * 4.
• bayer_rggb8, bayer_bggr8, bayer_rggb8, bayer_gbrg8, or bayer_grgb8:
  • Pixel colors are decomposed into Red, Blue and Green channels.
  • Pixel channel values are represented as unsigned 8-bit integers, and serialized in a 2x2 bayer filter pattern.
  • The order of the four letters after bayer_ determine the layout, so for bayer_wxyz8 the pattern is:

  w | x
  - + -
  y | z

  • step must be greater than or equal to width.
• mono8 or 8UC1:
  • Pixel brightness is represented as unsigned 8-bit integers.
  • step must be greater than or equal to width.
• mono16 or 16UC1:
  • Pixel brightness is represented as 16-bit unsigned little-endian integers. Rendering of these values is controlled in Image panel color mode settings.
  • step must be greater than or equal to width * 2.

Reference implementations

Foxglove schemas are framework-agnostic, and can be implemented using any supported message encoding:

encoding	schema
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 schema names specified above for Foxglove to recognize the schema.