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

Specifies the format of the data Acceptable values differ by the image transport used: - compressed_image_transport: ORIG_PIXFMT; CODEC compressed where: - ORIG_PIXFMT is pixel format of the raw image, i.e. the content of sensor_msgs/Image/encoding with values from include/sensor_msgs/image_encodings.h - CODEC is one of [jpeg, png, tiff] - COMPRESSED_PIXFMT is only appended for color images and is the pixel format used by the compression algorithm. Valid values for jpeg encoding are: [bgr8, rgb8]. Valid values for png encoding are: [bgr8, rgb8, bgr16, rgb16]. If the field is empty or does not correspond to the above pattern, the image is treated as bgr8 or mono8 jpeg image (depending on the number of channels). - compressed_depth_image_transport: ORIG_PIXFMT; compressedDepth CODEC where: - ORIG_PIXFMT is pixel format of the raw image, i.e. the content of sensor_msgs/Image/encoding with values from include/sensor_msgs/image_encodings.h It is usually one of [16UC1, 32FC1]. - CODEC is one of [png, rvl] If the field is empty or does not correspond to the above pattern, the image is treated as png image. - Other image transports can store whatever values they need for successful decoding of the image. Refer to documentation of the other transports for details.

[COMPRESSED_PIXFMT]

Compressed image buffer