{
  "title": "foxglove.RawImage",
  "description": "A raw image",
  "$comment": "Generated by https://github.com/foxglove/foxglove-sdk",
  "type": "object",
  "properties": {
    "timestamp": {
      "type": "object",
      "title": "time",
      "properties": {
        "sec": {
          "type": "integer",
          "minimum": 0
        },
        "nsec": {
          "type": "integer",
          "minimum": 0,
          "maximum": 999999999
        }
      },
      "description": "Timestamp of image"
    },
    "frame_id": {
      "type": "string",
      "description": "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": {
      "type": "integer",
      "minimum": 0,
      "description": "Image width in pixels"
    },
    "height": {
      "type": "integer",
      "minimum": 0,
      "description": "Image height in pixels"
    },
    "encoding": {
      "type": "string",
      "description": "Encoding of the raw image data. See the `data` field description for supported values."
    },
    "step": {
      "type": "integer",
      "minimum": 0,
      "description": "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": {
      "type": "string",
      "contentEncoding": "base64",
      "description": "Raw image data.\n\nFor each `encoding` value, the `data` field contains image pixel data serialized as follows:\n\n- `yuv422` or `uyvy`:\n  - Pixel colors are decomposed into [Y'UV](https://en.wikipedia.org/wiki/Y%E2%80%B2UV) channels.\n  - Pixel channel values are represented as unsigned 8-bit integers.\n  - U and V values are shared between horizontal pairs of pixels. Each pair of output pixels is serialized as [U, Y1, V, Y2].\n  - `step` must be greater than or equal to `width` * 2.\n- `yuv422_yuy2` or  `yuyv`:\n  - Pixel colors are decomposed into [Y'UV](https://en.wikipedia.org/wiki/Y%E2%80%B2UV) channels.\n  - Pixel channel values are represented as unsigned 8-bit integers.\n  - U and V values are shared between horizontal pairs of pixels. Each pair of output pixels is encoded as [Y1, U, Y2, V].\n  - `step` must be greater than or equal to `width` * 2.\n- `nv12`:\n  - Pixel colors are decomposed into [Y'UV](https://en.wikipedia.org/wiki/Y%E2%80%B2UV) channels using 4:2:0 chroma subsampling. The data is stored in [NV12](https://www.kernel.org/doc/html/v4.10/media/uapi/v4l/pixfmt-nv12.html) semi-planar layout with two contiguous planes: a Y (luma) plane followed by an interleaved UV (chroma) plane.\n  - All channel values are represented as unsigned 8-bit integers.\n  - Both planes use `step` as their row stride.\n  - The Y plane contains one luma value per pixel (`step` * `height` bytes).\n  - The UV plane contains interleaved U, V chroma pairs, subsampled by a factor of 2 in both dimensions (`width`/2 pairs per row, `height`/2 rows, `step` * `height`/2 bytes). Each U, V pair is shared by a 2x2 block of pixels.\n  - `width` and `height` must be even.\n  - `step` must be greater than or equal to `width`.\n  - Total `data` length is `step` * `height` * 3/2 bytes.\n- `rgb8`:\n  - Pixel colors are decomposed into Red, Green, and Blue channels.\n  - Pixel channel values are represented as unsigned 8-bit integers.\n  - Each output pixel is serialized as [R, G, B].\n  - `step` must be greater than or equal to `width` * 3.\n- `rgba8`:\n  - Pixel colors are decomposed into Red, Green, Blue, and Alpha channels.\n  - Pixel channel values are represented as unsigned 8-bit integers.\n  - Each output pixel is serialized as [R, G, B, Alpha].\n  - `step` must be greater than or equal to `width` * 4.\n- `bgr8` or `8UC3`:\n  - Pixel colors are decomposed into Blue, Green, and Red channels.\n  - Pixel channel values are represented as unsigned 8-bit integers.\n  - Each output pixel is serialized as [B, G, R].\n  - `step` must be greater than or equal to `width` * 3.\n- `bgra8`:\n  - Pixel colors are decomposed into Blue, Green, Red, and Alpha channels.\n  - Pixel channel values are represented as unsigned 8-bit integers.\n  - Each output pixel is encoded as [B, G, R, Alpha].\n  - `step` must be greater than or equal to `width` * 4.\n- `32FC1`:\n  - 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).\n  - `step` must be greater than or equal to `width` * 4.\n- `bayer_rggb8`, `bayer_bggr8`, `bayer_gbrg8`, or `bayer_grbg8`:\n  - Pixel colors are decomposed into Red, Blue and Green channels.\n  - Pixel channel values are represented as unsigned 8-bit integers, and serialized in a 2x2 bayer filter pattern.\n  - The order of the four letters after `bayer_` determine the layout, so for `bayer_wxyz8` the pattern is:\n  ```text\n  w | x\n  - + -\n  y | z\n  ```\n  - `step` must be greater than or equal to `width`.\n- `mono8` or `8UC1`:\n  - Pixel brightness is represented as unsigned 8-bit integers.\n  - `step` must be greater than or equal to `width`.\n- `mono16` or `16UC1`:\n  - Pixel brightness is represented as 16-bit unsigned little-endian integers. Rendering of these values is controlled in [Image panel color mode settings](https://docs.foxglove.dev/docs/visualization/panels/image#general).\n  - `step` must be greater than or equal to `width` * 2.\n"
    }
  },
  "required": [
    "timestamp",
    "frame_id",
    "width",
    "height",
    "encoding",
    "step",
    "data"
  ]
}