# New nodes (generally just 1, but want to leave this open) CameraNode[] nodes
# New points added from the frame WorldPoint[] points
# New projections Projection[] projections
Expanded Definition
Header header uint32 seq time stamp string frame_id CameraNode[] nodes uint32 index geometry_msgs/Transform transform geometry_msgs/Vector3 translation float64 x float64 y float64 z geometry_msgs/Quaternion rotation float64 x float64 y float64 z float64 w float64 fx float64 fy float64 cx float64 cy float64 baseline bool fixed WorldPoint[] points uint32 index float64 x float64 y float64 z float64 w Projection[] projections uint32 camindex uint32 pointindex float64 u float64 v float64 d bool stereo bool usecovariance float64[9] covariance