传感器相机话题清单

用法：概览表用于快速定位话题，介绍、类型、通路和配置要点都在表内；每行最后一列可跳转到附录中对应条目的 JSON 配置。附录的 ```json 块即 RFrame ChannelConfigLoader 可直接加载的最终配置（键为实例名，复制进自己进程的 {"channels": {...}} 即可用）。表中"配置要点"只列与框架默认不同的显式项，未列出的字段一律取框架默认，不要自行补写。
字段含义见《RFrame 开发指南》§7.3。

Notes：

所有图像传感器消息均为ROS2-Humble内建消息

1. 接口概览表

相机	Topic	介绍	类型	通路	配置要点	配置详情
头相机	/robby/sensors/camera/head/color/raw	头相机彩色原始图	sensor_msgs/msg/Image	Hybrid.shm、Hybrid.ros2	auto_route=false；memory_size=5242880；QoS best_effort	JSON / Schema
头相机	/robby/sensors/camera/head/color/compressed	头相机彩色压缩图	sensor_msgs/msg/CompressedImage	Hybrid.shm、Hybrid.ros2	auto_route=false；memory_size=5242880；QoS best_effort	JSON / Schema
头相机	/robby/sensors/camera/head/depth/raw	头相机深度原始图	sensor_msgs/msg/Image	Hybrid.shm、Hybrid.ros2	auto_route=false；memory_size=5242880；QoS best_effort	JSON / Schema
头相机	/robby/sensors/camera/head/depth/compressed	头相机深度压缩图	sensor_msgs/msg/CompressedImage	Hybrid.shm、Hybrid.zenoh（跨机走 zenoh，同机 SHM 不受影响）	auto_route=false；remote_backend=zenoh；memory_size=5242880	JSON / Schema
左腕相机	/robby/sensors/camera/wrist_left/color/raw	左腕相机彩色原始图	sensor_msgs/msg/Image	Hybrid.shm、Hybrid.ros2	auto_route=false；memory_size=5242880；QoS best_effort	JSON / Schema
左腕相机	/robby/sensors/camera/wrist_left/color/compressed	左腕相机彩色压缩图	sensor_msgs/msg/CompressedImage	Hybrid.shm、Hybrid.ros2	auto_route=false；memory_size=5242880；QoS best_effort	JSON / Schema
左腕相机	/robby/sensors/camera/wrist_left/depth/raw	左腕相机深度原始图	sensor_msgs/msg/Image	Hybrid.shm、Hybrid.ros2	auto_route=false；memory_size=5242880；QoS best_effort	JSON / Schema
右腕相机	/robby/sensors/camera/wrist_right/color/raw	右腕相机彩色原始图	sensor_msgs/msg/Image	Hybrid.shm、Hybrid.ros2	auto_route=false；memory_size=5242880；QoS best_effort	JSON / Schema
右腕相机	/robby/sensors/camera/wrist_right/color/compressed	右腕相机彩色压缩图	sensor_msgs/msg/CompressedImage	Hybrid.shm、Hybrid.ros2	auto_route=false；memory_size=5242880；QoS best_effort	JSON / Schema
右腕相机	/robby/sensors/camera/wrist_right/depth/raw	右腕相机深度原始图	sensor_msgs/msg/Image	Hybrid.shm、Hybrid.ros2	auto_route=false；memory_size=5242880；QoS best_effort	JSON / Schema

2. 附录：JSON 配置

每条配置对应概览表中的一行，键为实例名。只含与框架默认不同的字段；框架默认见《RFrame 部署指南》。

2.1. head（头相机）

2.1.1. /robby/sensors/camera/head/color/raw

{
  "robby_sensors_camera_head_color_raw": {
    "type": "hybrid",
    "topic": "/robby/sensors/camera/head/color/raw",
    "handler": "reader",
    "hybrid": {
      "enable_shm": true,
      "enable_remote": true,
      "auto_route": false
    },
    "shm": {
      "memory_size": 5242880,
      "type_name": "sensor_msgs/msg/Image"
    },
    "ros2": {
      "type_name": "sensor_msgs/msg/Image",
      "qos": {
        "reliability": "best_effort"
      }
    }
  }
}

2.1.1.1. 类型 Schema

类型：sensor_msgs/msg/Image

来源：ROS 2 Humble 标准模块 sensor_msgs（由 RTypes 声明为依赖）

# This message contains an uncompressed image
# (0, 0) is at top-left corner of image

std_msgs/Header header # Header timestamp should be acquisition time of image
                             # Header frame_id should be optical frame of camera
                             # origin of frame should be optical center of cameara
                             # +x should point to the right in the image
                             # +y should point down in the image
                             # +z should point into to plane of the image
                             # If the frame_id here and the frame_id of the CameraInfo
                             # message associated with the image conflict
                             # the behavior is undefined

uint32 height                # image height, that is, number of rows
uint32 width                 # image width, that is, number of columns

# The legal values for encoding are in file src/image_encodings.cpp
# If you want to standardize a new string format, join
# ros-users@lists.ros.org and send an email proposing a new encoding.

string encoding       # Encoding of pixels -- channel meaning, ordering, size
                      # taken from the list of strings in include/sensor_msgs/image_encodings.hpp

uint8 is_bigendian    # is this data bigendian?
uint32 step           # Full row length in bytes
uint8[] data          # actual matrix data, size is (step * rows)

语义说明：头相机的彩色未压缩图像。按 Schema 约定，header.stamp 应为图像采集时间，header.frame_id 应为相机光学坐标系：原点位于光心，x向图像右方、y向下、z朝前。具体设备的时间同步方式和 frame_id 名称待维护者确认。height、width 分别为图像行数和列数，像素原点(0,0)位于左上角。encoding 决定像素通道含义、顺序和数据宽度，is_bigendian 指明字节序；step 为整行字节数，data 的长度按 Schema 为 step×height，不能假设行内没有填充。关联 CameraInfo 的 frame_id 应与图像一致。实际彩色通道顺序、分辨率、帧率以及是否经过校正或对齐，待维护者补充。

2.1.2. /robby/sensors/camera/head/color/compressed

{
  "robby_sensors_camera_head_color_compressed": {
    "type": "hybrid",
    "topic": "/robby/sensors/camera/head/color/compressed",
    "handler": "reader",
    "hybrid": {
      "enable_shm": true,
      "enable_remote": true,
      "auto_route": false
    },
    "shm": {
      "memory_size": 5242880,
      "type_name": "sensor_msgs/msg/CompressedImage"
    },
    "ros2": {
      "type_name": "sensor_msgs/msg/CompressedImage",
      "qos": {
        "reliability": "best_effort"
      }
    }
  }
}

2.1.2.1. 类型 Schema

类型：sensor_msgs/msg/CompressedImage

来源：ROS 2 Humble 标准模块 sensor_msgs（由 RTypes 声明为依赖）

# This message contains a compressed image.

std_msgs/Header header # Header timestamp should be acquisition time of image
                             # Header frame_id should be optical frame of camera
                             # origin of frame should be optical center of cameara
                             # +x should point to the right in the image
                             # +y should point down in the image
                             # +z should point into to plane of the image

string format                # Specifies the format of the data
                             #   Acceptable values:
                             #     jpeg, png, tiff

uint8[] data                 # Compressed image buffer

语义说明：头相机的彩色压缩图像。按 Schema 约定，header.stamp 应为图像采集时间，header.frame_id 应为相机光学坐标系：原点位于光心，x向图像右方、y向下、z朝前。具体设备的时间同步方式和 frame_id 名称待维护者确认。format 描述压缩格式，当前 Schema 注释列出 jpeg、png、tiff；data 是压缩字节流，须按实际 format 和发布端约定解码，不能直接当作未压缩像素矩阵。消息没有显式 width、height、step 字段。实际彩色通道顺序、分辨率、帧率以及是否经过校正或对齐，待维护者补充。

2.1.3. /robby/sensors/camera/head/depth/raw

{
  "robby_sensors_camera_head_depth_raw": {
    "type": "hybrid",
    "topic": "/robby/sensors/camera/head/depth/raw",
    "handler": "reader",
    "hybrid": {
      "enable_shm": true,
      "enable_remote": true,
      "auto_route": false
    },
    "shm": {
      "memory_size": 5242880,
      "type_name": "sensor_msgs/msg/Image"
    },
    "ros2": {
      "type_name": "sensor_msgs/msg/Image",
      "qos": {
        "reliability": "best_effort"
      }
    }
  }
}

2.1.3.1. 类型 Schema

类型：sensor_msgs/msg/Image

来源：ROS 2 Humble 标准模块 sensor_msgs（由 RTypes 声明为依赖）

# This message contains an uncompressed image
# (0, 0) is at top-left corner of image

std_msgs/Header header # Header timestamp should be acquisition time of image
                             # Header frame_id should be optical frame of camera
                             # origin of frame should be optical center of cameara
                             # +x should point to the right in the image
                             # +y should point down in the image
                             # +z should point into to plane of the image
                             # If the frame_id here and the frame_id of the CameraInfo
                             # message associated with the image conflict
                             # the behavior is undefined

uint32 height                # image height, that is, number of rows
uint32 width                 # image width, that is, number of columns

# The legal values for encoding are in file src/image_encodings.cpp
# If you want to standardize a new string format, join
# ros-users@lists.ros.org and send an email proposing a new encoding.

string encoding       # Encoding of pixels -- channel meaning, ordering, size
                      # taken from the list of strings in include/sensor_msgs/image_encodings.hpp

uint8 is_bigendian    # is this data bigendian?
uint32 step           # Full row length in bytes
uint8[] data          # actual matrix data, size is (step * rows)

语义说明：头相机的深度未压缩图像。按 Schema 约定，header.stamp 应为图像采集时间，header.frame_id 应为相机光学坐标系：原点位于光心，x向图像右方、y向下、z朝前。具体设备的时间同步方式和 frame_id 名称待维护者确认。height、width 分别为图像行数和列数，像素原点(0,0)位于左上角。encoding 决定像素通道含义、顺序和数据宽度，is_bigendian 指明字节序；step 为整行字节数，data 的长度按 Schema 为 step×height，不能假设行内没有填充。关联 CameraInfo 的 frame_id 应与图像一致。深度像素的实际编码、物理单位与缩放系数、无效值、测量范围以及是否对齐到彩色图，均待维护者补充；仅凭 Topic 名称或该通用 Schema 无法确定。

2.1.4. /robby/sensors/camera/head/depth/compressed

{
  "robby_sensors_camera_head_depth_compressed": {
    "type": "hybrid",
    "topic": "/robby/sensors/camera/head/depth/compressed",
    "handler": "reader",
    "hybrid": {
      "enable_shm": true,
      "enable_remote": true,
      "remote_backend": "zenoh",
      "auto_route": false
    },
    "shm": {
      "memory_size": 5242880,
      "type_name": "sensor_msgs/msg/CompressedImage"
    }
  }
}

2.1.4.1. 类型 Schema

类型：sensor_msgs/msg/CompressedImage

来源：ROS 2 Humble 标准模块 sensor_msgs（由 RTypes 声明为依赖）

# This message contains a compressed image.

std_msgs/Header header # Header timestamp should be acquisition time of image
                             # Header frame_id should be optical frame of camera
                             # origin of frame should be optical center of cameara
                             # +x should point to the right in the image
                             # +y should point down in the image
                             # +z should point into to plane of the image

string format                # Specifies the format of the data
                             #   Acceptable values:
                             #     jpeg, png, tiff

uint8[] data                 # Compressed image buffer

语义说明：头相机的深度压缩图像。按 Schema 约定，header.stamp 应为图像采集时间，header.frame_id 应为相机光学坐标系：原点位于光心，x向图像右方、y向下、z朝前。具体设备的时间同步方式和 frame_id 名称待维护者确认。format 描述压缩格式，当前 Schema 注释列出 jpeg、png、tiff；data 是压缩字节流，须按实际 format 和发布端约定解码，不能直接当作未压缩像素矩阵。消息没有显式 width、height、step 字段。深度像素的实际编码、物理单位与缩放系数、无效值、测量范围以及是否对齐到彩色图，均待维护者补充；仅凭 Topic 名称或该通用 Schema 无法确定。 深度压缩采用的封装、是否无损及解码后的深度编码也须明确，不能仅凭 CompressedImage 类型假定普通图片解码即可恢复深度。

2.2. wrist_left（左腕相机）

2.2.1. /robby/sensors/camera/wrist_left/color/raw

{
  "robby_sensors_camera_wrist_left_color_raw": {
    "type": "hybrid",
    "topic": "/robby/sensors/camera/wrist_left/color/raw",
    "handler": "reader",
    "hybrid": {
      "enable_shm": true,
      "enable_remote": true,
      "auto_route": false
    },
    "shm": {
      "memory_size": 5242880,
      "type_name": "sensor_msgs/msg/Image"
    },
    "ros2": {
      "type_name": "sensor_msgs/msg/Image",
      "qos": {
        "reliability": "best_effort"
      }
    }
  }
}

2.2.1.1. 类型 Schema

类型：sensor_msgs/msg/Image

来源：ROS 2 Humble 标准模块 sensor_msgs（由 RTypes 声明为依赖）

# This message contains an uncompressed image
# (0, 0) is at top-left corner of image

std_msgs/Header header # Header timestamp should be acquisition time of image
                             # Header frame_id should be optical frame of camera
                             # origin of frame should be optical center of cameara
                             # +x should point to the right in the image
                             # +y should point down in the image
                             # +z should point into to plane of the image
                             # If the frame_id here and the frame_id of the CameraInfo
                             # message associated with the image conflict
                             # the behavior is undefined

uint32 height                # image height, that is, number of rows
uint32 width                 # image width, that is, number of columns

# The legal values for encoding are in file src/image_encodings.cpp
# If you want to standardize a new string format, join
# ros-users@lists.ros.org and send an email proposing a new encoding.

string encoding       # Encoding of pixels -- channel meaning, ordering, size
                      # taken from the list of strings in include/sensor_msgs/image_encodings.hpp

uint8 is_bigendian    # is this data bigendian?
uint32 step           # Full row length in bytes
uint8[] data          # actual matrix data, size is (step * rows)

语义说明：左腕相机的彩色未压缩图像。按 Schema 约定，header.stamp 应为图像采集时间，header.frame_id 应为相机光学坐标系：原点位于光心，x向图像右方、y向下、z朝前。具体设备的时间同步方式和 frame_id 名称待维护者确认。height、width 分别为图像行数和列数，像素原点(0,0)位于左上角。encoding 决定像素通道含义、顺序和数据宽度，is_bigendian 指明字节序；step 为整行字节数，data 的长度按 Schema 为 step×height，不能假设行内没有填充。关联 CameraInfo 的 frame_id 应与图像一致。实际彩色通道顺序、分辨率、帧率以及是否经过校正或对齐，待维护者补充。

2.2.2. /robby/sensors/camera/wrist_left/color/compressed

{
  "robby_sensors_camera_wrist_left_color_compressed": {
    "type": "hybrid",
    "topic": "/robby/sensors/camera/wrist_left/color/compressed",
    "handler": "reader",
    "hybrid": {
      "enable_shm": true,
      "enable_remote": true,
      "auto_route": false
    },
    "shm": {
      "memory_size": 5242880,
      "type_name": "sensor_msgs/msg/CompressedImage"
    },
    "ros2": {
      "type_name": "sensor_msgs/msg/CompressedImage",
      "qos": {
        "reliability": "best_effort"
      }
    }
  }
}

2.2.2.1. 类型 Schema

类型：sensor_msgs/msg/CompressedImage

来源：ROS 2 Humble 标准模块 sensor_msgs（由 RTypes 声明为依赖）

# This message contains a compressed image.

std_msgs/Header header # Header timestamp should be acquisition time of image
                             # Header frame_id should be optical frame of camera
                             # origin of frame should be optical center of cameara
                             # +x should point to the right in the image
                             # +y should point down in the image
                             # +z should point into to plane of the image

string format                # Specifies the format of the data
                             #   Acceptable values:
                             #     jpeg, png, tiff

uint8[] data                 # Compressed image buffer

语义说明：左腕相机的彩色压缩图像。按 Schema 约定，header.stamp 应为图像采集时间，header.frame_id 应为相机光学坐标系：原点位于光心，x向图像右方、y向下、z朝前。具体设备的时间同步方式和 frame_id 名称待维护者确认。format 描述压缩格式，当前 Schema 注释列出 jpeg、png、tiff；data 是压缩字节流，须按实际 format 和发布端约定解码，不能直接当作未压缩像素矩阵。消息没有显式 width、height、step 字段。实际彩色通道顺序、分辨率、帧率以及是否经过校正或对齐，待维护者补充。

2.2.3. /robby/sensors/camera/wrist_left/depth/raw

{
  "robby_sensors_camera_wrist_left_depth_raw": {
    "type": "hybrid",
    "topic": "/robby/sensors/camera/wrist_left/depth/raw",
    "handler": "reader",
    "hybrid": {
      "enable_shm": true,
      "enable_remote": true,
      "auto_route": false
    },
    "shm": {
      "memory_size": 5242880,
      "type_name": "sensor_msgs/msg/Image"
    },
    "ros2": {
      "type_name": "sensor_msgs/msg/Image",
      "qos": {
        "reliability": "best_effort"
      }
    }
  }
}

2.2.3.1. 类型 Schema

类型：sensor_msgs/msg/Image

来源：ROS 2 Humble 标准模块 sensor_msgs（由 RTypes 声明为依赖）

# This message contains an uncompressed image
# (0, 0) is at top-left corner of image

std_msgs/Header header # Header timestamp should be acquisition time of image
                             # Header frame_id should be optical frame of camera
                             # origin of frame should be optical center of cameara
                             # +x should point to the right in the image
                             # +y should point down in the image
                             # +z should point into to plane of the image
                             # If the frame_id here and the frame_id of the CameraInfo
                             # message associated with the image conflict
                             # the behavior is undefined

uint32 height                # image height, that is, number of rows
uint32 width                 # image width, that is, number of columns

# The legal values for encoding are in file src/image_encodings.cpp
# If you want to standardize a new string format, join
# ros-users@lists.ros.org and send an email proposing a new encoding.

string encoding       # Encoding of pixels -- channel meaning, ordering, size
                      # taken from the list of strings in include/sensor_msgs/image_encodings.hpp

uint8 is_bigendian    # is this data bigendian?
uint32 step           # Full row length in bytes
uint8[] data          # actual matrix data, size is (step * rows)

语义说明：左腕相机的深度未压缩图像。按 Schema 约定，header.stamp 应为图像采集时间，header.frame_id 应为相机光学坐标系：原点位于光心，x向图像右方、y向下、z朝前。具体设备的时间同步方式和 frame_id 名称待维护者确认。height、width 分别为图像行数和列数，像素原点(0,0)位于左上角。encoding 决定像素通道含义、顺序和数据宽度，is_bigendian 指明字节序；step 为整行字节数，data 的长度按 Schema 为 step×height，不能假设行内没有填充。关联 CameraInfo 的 frame_id 应与图像一致。深度像素的实际编码、物理单位与缩放系数、无效值、测量范围以及是否对齐到彩色图，均待维护者补充；仅凭 Topic 名称或该通用 Schema 无法确定。

2.3. wrist_right（右腕相机）

2.3.1. /robby/sensors/camera/wrist_right/color/raw

{
  "robby_sensors_camera_wrist_right_color_raw": {
    "type": "hybrid",
    "topic": "/robby/sensors/camera/wrist_right/color/raw",
    "handler": "reader",
    "hybrid": {
      "enable_shm": true,
      "enable_remote": true,
      "auto_route": false
    },
    "shm": {
      "memory_size": 5242880,
      "type_name": "sensor_msgs/msg/Image"
    },
    "ros2": {
      "type_name": "sensor_msgs/msg/Image",
      "qos": {
        "reliability": "best_effort"
      }
    }
  }
}

2.3.1.1. 类型 Schema

类型：sensor_msgs/msg/Image

来源：ROS 2 Humble 标准模块 sensor_msgs（由 RTypes 声明为依赖）

# This message contains an uncompressed image
# (0, 0) is at top-left corner of image

std_msgs/Header header # Header timestamp should be acquisition time of image
                             # Header frame_id should be optical frame of camera
                             # origin of frame should be optical center of cameara
                             # +x should point to the right in the image
                             # +y should point down in the image
                             # +z should point into to plane of the image
                             # If the frame_id here and the frame_id of the CameraInfo
                             # message associated with the image conflict
                             # the behavior is undefined

uint32 height                # image height, that is, number of rows
uint32 width                 # image width, that is, number of columns

# The legal values for encoding are in file src/image_encodings.cpp
# If you want to standardize a new string format, join
# ros-users@lists.ros.org and send an email proposing a new encoding.

string encoding       # Encoding of pixels -- channel meaning, ordering, size
                      # taken from the list of strings in include/sensor_msgs/image_encodings.hpp

uint8 is_bigendian    # is this data bigendian?
uint32 step           # Full row length in bytes
uint8[] data          # actual matrix data, size is (step * rows)

语义说明：右腕相机的彩色未压缩图像。按 Schema 约定，header.stamp 应为图像采集时间，header.frame_id 应为相机光学坐标系：原点位于光心，x向图像右方、y向下、z朝前。具体设备的时间同步方式和 frame_id 名称待维护者确认。height、width 分别为图像行数和列数，像素原点(0,0)位于左上角。encoding 决定像素通道含义、顺序和数据宽度，is_bigendian 指明字节序；step 为整行字节数，data 的长度按 Schema 为 step×height，不能假设行内没有填充。关联 CameraInfo 的 frame_id 应与图像一致。实际彩色通道顺序、分辨率、帧率以及是否经过校正或对齐，待维护者补充。

2.3.2. /robby/sensors/camera/wrist_right/color/compressed

{
  "robby_sensors_camera_wrist_right_color_compressed": {
    "type": "hybrid",
    "topic": "/robby/sensors/camera/wrist_right/color/compressed",
    "handler": "reader",
    "hybrid": {
      "enable_shm": true,
      "enable_remote": true,
      "auto_route": false
    },
    "shm": {
      "memory_size": 5242880,
      "type_name": "sensor_msgs/msg/CompressedImage"
    },
    "ros2": {
      "type_name": "sensor_msgs/msg/CompressedImage",
      "qos": {
        "reliability": "best_effort"
      }
    }
  }
}

2.3.2.1. 类型 Schema

类型：sensor_msgs/msg/CompressedImage

来源：ROS 2 Humble 标准模块 sensor_msgs（由 RTypes 声明为依赖）

# This message contains a compressed image.

std_msgs/Header header # Header timestamp should be acquisition time of image
                             # Header frame_id should be optical frame of camera
                             # origin of frame should be optical center of cameara
                             # +x should point to the right in the image
                             # +y should point down in the image
                             # +z should point into to plane of the image

string format                # Specifies the format of the data
                             #   Acceptable values:
                             #     jpeg, png, tiff

uint8[] data                 # Compressed image buffer

语义说明：右腕相机的彩色压缩图像。按 Schema 约定，header.stamp 应为图像采集时间，header.frame_id 应为相机光学坐标系：原点位于光心，x向图像右方、y向下、z朝前。具体设备的时间同步方式和 frame_id 名称待维护者确认。format 描述压缩格式，当前 Schema 注释列出 jpeg、png、tiff；data 是压缩字节流，须按实际 format 和发布端约定解码，不能直接当作未压缩像素矩阵。消息没有显式 width、height、step 字段。实际彩色通道顺序、分辨率、帧率以及是否经过校正或对齐，待维护者补充。

2.3.3. /robby/sensors/camera/wrist_right/depth/raw

{
  "robby_sensors_camera_wrist_right_depth_raw": {
    "type": "hybrid",
    "topic": "/robby/sensors/camera/wrist_right/depth/raw",
    "handler": "reader",
    "hybrid": {
      "enable_shm": true,
      "enable_remote": true,
      "auto_route": false
    },
    "shm": {
      "memory_size": 5242880,
      "type_name": "sensor_msgs/msg/Image"
    },
    "ros2": {
      "type_name": "sensor_msgs/msg/Image",
      "qos": {
        "reliability": "best_effort"
      }
    }
  }
}

2.3.3.1. 类型 Schema

类型：sensor_msgs/msg/Image

来源：ROS 2 Humble 标准模块 sensor_msgs（由 RTypes 声明为依赖）

# This message contains an uncompressed image
# (0, 0) is at top-left corner of image

std_msgs/Header header # Header timestamp should be acquisition time of image
                             # Header frame_id should be optical frame of camera
                             # origin of frame should be optical center of cameara
                             # +x should point to the right in the image
                             # +y should point down in the image
                             # +z should point into to plane of the image
                             # If the frame_id here and the frame_id of the CameraInfo
                             # message associated with the image conflict
                             # the behavior is undefined

uint32 height                # image height, that is, number of rows
uint32 width                 # image width, that is, number of columns

# The legal values for encoding are in file src/image_encodings.cpp
# If you want to standardize a new string format, join
# ros-users@lists.ros.org and send an email proposing a new encoding.

string encoding       # Encoding of pixels -- channel meaning, ordering, size
                      # taken from the list of strings in include/sensor_msgs/image_encodings.hpp

uint8 is_bigendian    # is this data bigendian?
uint32 step           # Full row length in bytes
uint8[] data          # actual matrix data, size is (step * rows)

语义说明：右腕相机的深度未压缩图像。按 Schema 约定，header.stamp 应为图像采集时间，header.frame_id 应为相机光学坐标系：原点位于光心，x向图像右方、y向下、z朝前。具体设备的时间同步方式和 frame_id 名称待维护者确认。height、width 分别为图像行数和列数，像素原点(0,0)位于左上角。encoding 决定像素通道含义、顺序和数据宽度，is_bigendian 指明字节序；step 为整行字节数，data 的长度按 Schema 为 step×height，不能假设行内没有填充。关联 CameraInfo 的 frame_id 应与图像一致。深度像素的实际编码、物理单位与缩放系数、无效值、测量范围以及是否对齐到彩色图，均待维护者补充；仅凭 Topic 名称或该通用 Schema 无法确定。