RawImage: document encodings in schemas

python/foxglove-sdk/src/generated/schemas.rs

@@ -1466,11 +1466,11 @@ impl From<Quaternion> for foxglove::schemas::Quaternion {
 ///
 /// :param timestamp: Timestamp of image
 /// :param frame_id: 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.
-/// :param width: Image width
-/// :param height: Image height
-/// :param encoding: Encoding of the raw image data
-/// :param step: Byte length of a single row
-/// :param data: Raw image data
+/// :param width: Image width in pixels
+/// :param height: Image heigh in pixels
+/// :param encoding: Encoding of the raw image data. See the `data` field description for supported values.
+/// :param step: Byte length of a single row. This is usually some multiple of `width` depending on the encoding, but can be greater to incorporate padding.
+/// :param data: Raw image data.
 ///
 /// See https://docs.foxglove.dev/docs/visualization/message-schemas/raw-image
 #[pyclass(module = "foxglove.schemas")]

rust/foxglove/src/schemas/foxglove.rs

@@ -848,21 +848,63 @@ pub struct RawImage {
     /// 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.
     #[prost(string, tag = "7")]
     pub frame_id: ::prost::alloc::string::String,
-    /// Image width
+    /// Image width in pixels
     #[prost(fixed32, tag = "2")]
     pub width: u32,
-    /// Image height
+    /// Image heigh in pixels
     #[prost(fixed32, tag = "3")]
     pub height: u32,
-    /// Encoding of the raw image data
-    ///
-    /// Supported values: `8UC1`, `8UC3`, `16UC1` (little endian), `32FC1` (little endian), `bayer_bggr8`, `bayer_gbrg8`, `bayer_grbg8`, `bayer_rggb8`, `bgr8`, `bgra8`, `mono8`, `mono16`, `rgb8`, `rgba8`, `uyvy` or `yuv422`, `yuyv` or `yuv422_yuy2`
+    /// Encoding of the raw image data. See the `data` field description for supported values.
     #[prost(string, tag = "4")]
     pub encoding: ::prost::alloc::string::String,
-    /// Byte length of a single row
+    /// Byte length of a single row. This is usually some multiple of `width` depending on the encoding, but can be greater to incorporate padding.
     #[prost(fixed32, tag = "5")]
     pub step: u32,
-    /// Raw image data
+    /// Raw image data.
+    ///
+    /// The requirements for each `encoding` value are:
+    /// - `yuv422`,  `uyvy`:
+    ///    - 8-bit [Y'UV](<https://en.wikipedia.org/wiki/Y%E2%80%B2UV>).
+    ///    - U and V values are shared between horizontal pairs of pixels. Each pair of output pixels is encoded as \[U, Y1, V, Y2\].
+    ///    - `step` must be greater than or equal to `width` * 2.
+    /// - `yuv422_yuy2`,  `yuyv`:
+    ///    - 8-Bit [Y'UV](<https://en.wikipedia.org/wiki/Y%E2%80%B2UV>).
+    ///    - 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`:
+    ///    - 8-bit RGB.
+    ///    - Each output pixel is encoded as \[R, G, B\].
+    ///    - `step` must be greater than or equal to `width` * 3.
+    /// - `rgba8`:
+    ///    - 8-bit RGB + Alpha.
+    ///    - Each output pixel is encoded as \[R, G, B, Alpha\].
+    ///    - `step` must be greater than or equal to `width` * 4.
+    /// - `bgr8`:
+    ///    - RGB, one byte per component.
+    ///    - Each output pixel is encoded as \[B, G, R\].
+    ///    - `step` must be greater than or equal to `width` * 3.
+    /// - `bgra8`, `8UC3`:
+    ///    - RGB + Alpha, one byte per component.
+    ///    - Each output pixel is encoded as \[B, G, R, Alpha\].
+    ///    - `step` must be greater than or equal to `width` * 4.
+    /// - `32FC1`:
+    ///    - 32-bit little-endian IEEE754 float brightness values, 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`, `bayer_grgb8`:
+    ///    - 8-bit Bayer filter pattern RGB values.
+    ///    - The order of the four letters after `bayer_` determine the layout, so for `bayer_wxyz8` the pattern is:
+    ///    ```plaintext
+    ///    w | x
+    ///    - | -
+    ///    y | z
+    ///    ```
+    ///    - `step` must be greater than or equal to `width`.
+    /// - `mono8`, `8UC1`:
+    ///    - 8-bit brightness values from 0 (black) to 255 (white).
+    ///    - `step` must be greater than or equal to `width`.
+    /// - `mono16`, `16UC1`:
+    ///    - 16-bit abstract per-pixel values. Rendering of these values is controlled in [Image panel color mode settings](<https://docs.foxglove.dev/docs/visualization/panels/image#general>).
+    ///    - `step` must be greater than or equal to `width` * 2.
     #[prost(bytes = "bytes", tag = "6")]
     pub data: ::prost::bytes::Bytes,
 }