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

 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.sourceforge.net 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.h

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