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Array length handling when serializing messages

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I am trying to code a rosbag serializer, and I am trying to generate code from the messages, like https://github.com/ros/genmsg I noticed there's an inconsitency in how to handle unbounded array lengths. In some cases, it is assumed the array elements are preceded with the length of the array: CameraInfo In some others, the length is calculated from other properties of the message: Image, PointCloud2 Then there's cases in which it's not clear if the length needs to be handled based on the length of the whole message itself: CompressedImage. So, are these cases handled manually? or is there some sort of non obvious rule? I have noticed that in the definitions of some unbounded arrays, it is stated that the length needs to be computed from other parameters.

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