/td>
                  <td>This can be either 'png', 'jpeg', 'tiff', or 'raw'. It defaults to 'png' for color
                    images and to 'tiff' for depth images. 'raw' transmits the contents of the luminance buffer without
                    color mapping.</td>
                </tr>
                <tr>
                  <td>depth</td>
                  <td>false</td>
                  <td>If set to 'true', a 32 bit floating point grayscale range image in meters will
                    be generated