@foxglove/schemas 0.5.0 → 0.6.0

package/dist/esm/src/generateProto.test.js

@@ -35,67 +35,67 @@ describe("generateProto", () => {
         bool field_boolean = 3;
 
         // bytes field
-        bytes field_bytes = 4;
+        bytes field_bytes = 5;
 
         // float64 field
-        double field_float64 = 5;
+        double field_float64 = 6;
 
         // uint32 field
-        fixed32 field_uint32 = 6;
+        fixed32 field_uint32 = 7;
 
         // string field
-        string field_string = 7;
+        string field_string = 8;
 
         // duration array field
-        repeated google.protobuf.Duration field_duration_array = 8;
+        repeated google.protobuf.Duration field_duration_array = 9;
 
         // time array field
-        repeated google.protobuf.Timestamp field_time_array = 9;
+        repeated google.protobuf.Timestamp field_time_array = 10;
 
         // boolean array field
-        repeated bool field_boolean_array = 10;
+        repeated bool field_boolean_array = 11;
 
         // bytes array field
-        repeated bytes field_bytes_array = 11;
+        repeated bytes field_bytes_array = 12;
 
         // float64 array field
-        repeated double field_float64_array = 12;
+        repeated double field_float64_array = 13;
 
         // uint32 array field
-        repeated fixed32 field_uint32_array = 13;
+        repeated fixed32 field_uint32_array = 14;
 
         // string array field
-        repeated string field_string_array = 14;
+        repeated string field_string_array = 15;
 
         // duration fixed-length array field
-        repeated google.protobuf.Duration field_duration_fixed_array = 15; // length 3
+        repeated google.protobuf.Duration field_duration_fixed_array = 16; // length 3
 
         // time fixed-length array field
-        repeated google.protobuf.Timestamp field_time_fixed_array = 16; // length 3
+        repeated google.protobuf.Timestamp field_time_fixed_array = 17; // length 3
 
         // boolean fixed-length array field
-        repeated bool field_boolean_fixed_array = 17; // length 3
+        repeated bool field_boolean_fixed_array = 18; // length 3
 
         // bytes fixed-length array field
-        repeated bytes field_bytes_fixed_array = 18; // length 3
+        repeated bytes field_bytes_fixed_array = 19; // length 3
 
         // float64 fixed-length array field
-        repeated double field_float64_fixed_array = 19; // length 3
+        repeated double field_float64_fixed_array = 20; // length 3
 
         // uint32 fixed-length array field
-        repeated fixed32 field_uint32_fixed_array = 20; // length 3
+        repeated fixed32 field_uint32_fixed_array = 21; // length 3
 
         // string fixed-length array field
-        repeated string field_string_fixed_array = 21; // length 3
+        repeated string field_string_fixed_array = 22; // length 3
 
         // An enum field
-        ExampleProtoEnum field_enum = 22;
+        ExampleProtoEnum field_enum = 23;
 
         // An enum array field
-        repeated ExampleProtoEnum field_enum_array = 23;
+        repeated ExampleProtoEnum field_enum_array = 24;
 
         // A nested field
-        foxglove.NestedMessage field_nested = 24;
+        foxglove.NestedMessage field_nested = 25;
 
         // A nested array field
         // With
@@ -103,7 +103,7 @@ describe("generateProto", () => {
         // very
         // long
         // description
-        repeated foxglove.NestedMessage field_nested_array = 25;
+        repeated foxglove.NestedMessage field_nested_array = 4;
       }
       "
     `);

package/dist/esm/src/schemas.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"schemas.d.ts","sourceRoot":"","sources":["../../../src/schemas.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,MAAM,SAAS,CAAC;AA2xCpE,eAAO,MAAM,sBAAsB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAoClC,CAAC;AAEF,eAAO,MAAM,mBAAmB;;;;;;;CAO/B,CAAC"}
+{"version":3,"file":"schemas.d.ts","sourceRoot":"","sources":["../../../src/schemas.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAE,MAAM,SAAS,CAAC;AAgzCpE,eAAO,MAAM,sBAAsB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAoClC,CAAC;AAEF,eAAO,MAAM,mBAAmB;;;;;;;CAO/B,CAAC"}

package/dist/esm/src/schemas.js

@@ -609,6 +609,12 @@ const CameraCalibration = {
             type: { type: "primitive", name: "time" },
             description: "Timestamp of calibration data",
         },
+        {
+            name: "frame_id",
+            type: { type: "primitive", name: "string" },
+            description: "Frame of reference for the camera. 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.",
+            protobufFieldNumber: 9,
+        },
         {
             name: "width",
             type: { type: "primitive", name: "uint32" },
@@ -698,6 +704,12 @@ const CompressedImage = {
             type: { type: "primitive", name: "time" },
             description: "Timestamp of image",
         },
+        {
+            name: "frame_id",
+            type: { type: "primitive", name: "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.",
+            protobufFieldNumber: 4,
+        },
         {
             name: "data",
             type: { type: "primitive", name: "bytes" },
@@ -720,6 +732,12 @@ const RawImage = {
             type: { type: "primitive", name: "time" },
             description: "Timestamp of image",
         },
+        {
+            name: "frame_id",
+            type: { type: "primitive", name: "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.",
+            protobufFieldNumber: 7,
+        },
         {
             name: "width",
             type: { type: "primitive", name: "uint32" },

package/dist/esm/src/schemas.js.map

@@ -1 +1 @@
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package/dist/esm/src/testFixtures.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"testFixtures.d.ts","sourceRoot":"","sources":["../../../src/testFixtures.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAqB,MAAM,SAAS,CAAC;AAYvF,eAAO,MAAM,WAAW,EAAE,kBAUzB,CAAC;AAeF,eAAO,MAAM,cAAc,EAAE,qBA6C5B,CAAC;AAEF,eAAO,MAAM,iCAAiC,EAAE,qBAK/C,CAAC"}
+{"version":3,"file":"testFixtures.d.ts","sourceRoot":"","sources":["../../../src/testFixtures.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,kBAAkB,EAAE,qBAAqB,EAAqB,MAAM,SAAS,CAAC;AAYvF,eAAO,MAAM,WAAW,EAAE,kBAUzB,CAAC;AAeF,eAAO,MAAM,cAAc,EAAE,qBA8C5B,CAAC;AAEF,eAAO,MAAM,iCAAiC,EAAE,qBAK/C,CAAC"}

package/dist/esm/src/testFixtures.js

@@ -73,6 +73,7 @@ export const exampleMessage = {
             description: "A nested array field\nWith\na\nvery\nlong\ndescription",
             type: { type: "nested", schema: exampleNestedMessage },
             array: true,
+            protobufFieldNumber: 4,
         },
     ],
 };

package/dist/esm/src/testFixtures.js.map

@@ -1 +1 @@
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+{"version":3,"file":"testFixtures.js","sourceRoot":"","sources":["../../../src/testFixtures.ts"],"names":[],"mappings":"AAEA,MAAM,aAAa,GAAwB;IACzC,UAAU;IACV,MAAM;IACN,SAAS;IACT,OAAO;IACP,SAAS;IACT,QAAQ;IACR,QAAQ;CACT,CAAC;AAEF,MAAM,CAAC,MAAM,WAAW,GAAuB;IAC7C,IAAI,EAAE,MAAM;IACZ,IAAI,EAAE,aAAa;IACnB,gBAAgB,EAAE,kBAAkB;IACpC,yBAAyB,EAAE,gBAAgB;IAC3C,WAAW,EAAE,iBAAiB;IAC9B,MAAM,EAAE;QACN,EAAE,IAAI,EAAE,GAAG,EAAE,KAAK,EAAE,CAAC,EAAE,WAAW,EAAE,SAAS,EAAE;QAC/C,EAAE,IAAI,EAAE,GAAG,EAAE,KAAK,EAAE,CAAC,EAAE,WAAW,EAAE,SAAS,EAAE;KAChD;CACF,CAAC;AAEF,MAAM,oBAAoB,GAA0B;IAClD,IAAI,EAAE,SAAS;IACf,IAAI,EAAE,eAAe;IACrB,WAAW,EAAE,2BAA2B;IACxC,MAAM,EAAE;QACN;YACE,IAAI,EAAE,YAAY;YAClB,WAAW,EAAE,eAAe;YAC5B,IAAI,EAAE,EAAE,IAAI,EAAE,WAAW,EAAE,IAAI,EAAE,QAAQ,EAAE;SAC5C;KACF;CACF,CAAC;AAEF,MAAM,CAAC,MAAM,cAAc,GAA0B;IACnD,IAAI,EAAE,SAAS;IACf,IAAI,EAAE,gBAAgB;IACtB,WAAW,EAAE,iBAAiB;IAC9B,MAAM,EAAE;QACN,GAAG,aAAa,CAAC,GAAG,CAAC,CAAC,IAAI,EAAsC,EAAE,CAAC,CAAC;YAClE,IAAI,EAAE,SAAS,IAAI,EAAE;YACrB,WAAW,EAAE,GAAG,IAAI,QAAQ;YAC5B,IAAI,EAAE,EAAE,IAAI,EAAE,WAAW,EAAE,IAAI,EAAE;SAClC,CAAC,CAAC;QACH,GAAG,aAAa,CAAC,GAAG,CAAC,CAAC,IAAI,EAAsC,EAAE,CAAC,CAAC;YAClE,IAAI,EAAE,SAAS,IAAI,QAAQ;YAC3B,WAAW,EAAE,GAAG,IAAI,cAAc;YAClC,IAAI,EAAE,EAAE,IAAI,EAAE,WAAW,EAAE,IAAI,EAAE;YACjC,KAAK,EAAE,IAAI;SACZ,CAAC,CAAC;QACH,GAAG,aAAa,CAAC,GAAG,CAAC,CAAC,IAAI,EAAsC,EAAE,CAAC,CAAC;YAClE,IAAI,EAAE,SAAS,IAAI,cAAc;YACjC,WAAW,EAAE,GAAG,IAAI,2BAA2B;YAC/C,IAAI,EAAE,EAAE,IAAI,EAAE,WAAW,EAAE,IAAI,EAAE;YACjC,KAAK,EAAE,CAAC;SACT,CAAC,CAAC;QACH;YACE,IAAI,EAAE,YAAY;YAClB,WAAW,EAAE,eAAe;YAC5B,IAAI,EAAE,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,WAAW,EAAE;SAC1C;QACD;YACE,IAAI,EAAE,kBAAkB;YACxB,WAAW,EAAE,qBAAqB;YAClC,IAAI,EAAE,EAAE,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,WAAW,EAAE;YACzC,KAAK,EAAE,IAAI;SACZ;QACD;YACE,IAAI,EAAE,cAAc;YACpB,WAAW,EAAE,gBAAgB;YAC7B,IAAI,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,MAAM,EAAE,oBAAoB,EAAE;SACvD;QACD;YACE,IAAI,EAAE,oBAAoB;YAC1B,WAAW,EAAE,wDAAwD;YACrE,IAAI,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,MAAM,EAAE,oBAAoB,EAAE;YACtD,KAAK,EAAE,IAAI;YACX,mBAAmB,EAAE,CAAC;SACvB;KACF;CACF,CAAC;AAEF,MAAM,CAAC,MAAM,iCAAiC,GAA0B;IACtE,GAAG,cAAc;IACjB,MAAM,EAAE,cAAc,CAAC,MAAM,CAAC,MAAM,CAClC,CAAC,EAAE,IAAI,EAAE,EAAE,EAAE,CAAC,IAAI,KAAK,mBAAmB,IAAI,IAAI,KAAK,yBAAyB,CACjF;CACF,CAAC"}

package/dist/esm/src/types.d.ts

@@ -11,27 +11,29 @@ export declare type FoxgloveEnumSchema = {
         description?: string;
     }>;
 };
+export declare type FoxgloveMessageField = {
+    name: string;
+    type: {
+        type: "primitive";
+        name: FoxglovePrimitive;
+    } | {
+        type: "nested";
+        schema: FoxgloveMessageSchema;
+    } | {
+        type: "enum";
+        enum: FoxgloveEnumSchema;
+    };
+    array?: true | number;
+    required?: true;
+    description: string;
+    protobufFieldNumber?: number;
+};
 export declare type FoxgloveMessageSchema = {
     type: "message";
     name: string;
     description: string;
     rosEquivalent?: keyof typeof import("@foxglove/rosmsg-msgs-common").definitions;
-    fields: ReadonlyArray<{
-        name: string;
-        type: {
-            type: "primitive";
-            name: FoxglovePrimitive;
-        } | {
-            type: "nested";
-            schema: FoxgloveMessageSchema;
-        } | {
-            type: "enum";
-            enum: FoxgloveEnumSchema;
-        };
-        array?: true | number;
-        required?: true;
-        description: string;
-    }>;
+    fields: ReadonlyArray<FoxgloveMessageField>;
 };
 export declare type FoxgloveSchema = FoxgloveMessageSchema | FoxgloveEnumSchema;
 //# sourceMappingURL=types.d.ts.map

package/dist/esm/src/types.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"types.d.ts","sourceRoot":"","sources":["../../../src/types.ts"],"names":[],"mappings":"AAAA,oBAAY,iBAAiB,GACzB,QAAQ,GACR,SAAS,GACT,QAAQ,GACR,SAAS,GACT,OAAO,GACP,MAAM,GACN,UAAU,CAAC;AAEf,oBAAY,kBAAkB,GAAG;IAC/B,IAAI,EAAE,MAAM,CAAC;IACb,IAAI,EAAE,MAAM,CAAC;IACb,WAAW,EAAE,MAAM,CAAC;IACpB,yBAAyB,EAAE,MAAM,CAAC;IAClC,gBAAgB,EAAE,MAAM,CAAC;IACzB,MAAM,EAAE,aAAa,CAAC;QACpB,KAAK,EAAE,MAAM,CAAC;QACd,IAAI,EAAE,MAAM,CAAC;QACb,WAAW,CAAC,EAAE,MAAM,CAAC;KACtB,CAAC,CAAC;CACJ,CAAC;AAEF,oBAAY,qBAAqB,GAAG;IAClC,IAAI,EAAE,SAAS,CAAC;IAChB,IAAI,EAAE,MAAM,CAAC;IACb,WAAW,EAAE,MAAM,CAAC;IACpB,aAAa,CAAC,EAAE,MAAM,cAAc,8BAA8B,EAAE,WAAW,CAAC;IAChF,MAAM,EAAE,aAAa,CAAC;QACpB,IAAI,EAAE,MAAM,CAAC;QACb,IAAI,EACA;YAAE,IAAI,EAAE,WAAW,CAAC;YAAC,IAAI,EAAE,iBAAiB,CAAA;SAAE,GAC9C;YAAE,IAAI,EAAE,QAAQ,CAAC;YAAC,MAAM,EAAE,qBAAqB,CAAA;SAAE,GACjD;YAAE,IAAI,EAAE,MAAM,CAAC;YAAC,IAAI,EAAE,kBAAkB,CAAA;SAAE,CAAC;QAC/C,KAAK,CAAC,EAAE,IAAI,GAAG,MAAM,CAAC;QACtB,QAAQ,CAAC,EAAE,IAAI,CAAC;QAChB,WAAW,EAAE,MAAM,CAAC;KACrB,CAAC,CAAC;CACJ,CAAC;AAEF,oBAAY,cAAc,GAAG,qBAAqB,GAAG,kBAAkB,CAAC"}
+{"version":3,"file":"types.d.ts","sourceRoot":"","sources":["../../../src/types.ts"],"names":[],"mappings":"AAAA,oBAAY,iBAAiB,GACzB,QAAQ,GACR,SAAS,GACT,QAAQ,GACR,SAAS,GACT,OAAO,GACP,MAAM,GACN,UAAU,CAAC;AAEf,oBAAY,kBAAkB,GAAG;IAC/B,IAAI,EAAE,MAAM,CAAC;IACb,IAAI,EAAE,MAAM,CAAC;IACb,WAAW,EAAE,MAAM,CAAC;IACpB,yBAAyB,EAAE,MAAM,CAAC;IAClC,gBAAgB,EAAE,MAAM,CAAC;IACzB,MAAM,EAAE,aAAa,CAAC;QACpB,KAAK,EAAE,MAAM,CAAC;QACd,IAAI,EAAE,MAAM,CAAC;QACb,WAAW,CAAC,EAAE,MAAM,CAAC;KACtB,CAAC,CAAC;CACJ,CAAC;AAEF,oBAAY,oBAAoB,GAAG;IACjC,IAAI,EAAE,MAAM,CAAC;IACb,IAAI,EACA;QAAE,IAAI,EAAE,WAAW,CAAC;QAAC,IAAI,EAAE,iBAAiB,CAAA;KAAE,GAC9C;QAAE,IAAI,EAAE,QAAQ,CAAC;QAAC,MAAM,EAAE,qBAAqB,CAAA;KAAE,GACjD;QAAE,IAAI,EAAE,MAAM,CAAC;QAAC,IAAI,EAAE,kBAAkB,CAAA;KAAE,CAAC;IAC/C,KAAK,CAAC,EAAE,IAAI,GAAG,MAAM,CAAC;IACtB,QAAQ,CAAC,EAAE,IAAI,CAAC;IAChB,WAAW,EAAE,MAAM,CAAC;IACpB,mBAAmB,CAAC,EAAE,MAAM,CAAC;CAC9B,CAAC;AAEF,oBAAY,qBAAqB,GAAG;IAClC,IAAI,EAAE,SAAS,CAAC;IAChB,IAAI,EAAE,MAAM,CAAC;IACb,WAAW,EAAE,MAAM,CAAC;IACpB,aAAa,CAAC,EAAE,MAAM,cAAc,8BAA8B,EAAE,WAAW,CAAC;IAChF,MAAM,EAAE,aAAa,CAAC,oBAAoB,CAAC,CAAC;CAC7C,CAAC;AAEF,oBAAY,cAAc,GAAG,qBAAqB,GAAG,kBAAkB,CAAC"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@foxglove/schemas",
-  "version": "0.5.0",
+  "version": "0.6.0",
   "description": "Foxglove-defined message schemas for ROS, Protobuf, and JSON",
   "license": "MIT",
   "repository": {

package/schemas/README.md

@@ -244,6 +244,19 @@ time
 
 Timestamp of calibration data
 
+</td>
+</tr>
+<tr>
+<td><code>frame_id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Frame of reference for the camera. 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.
+
 </td>
 </tr>
 <tr>
@@ -552,6 +565,19 @@ time
 
 Timestamp of image
 
+</td>
+</tr>
+<tr>
+<td><code>frame_id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+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.
+
 </td>
 </tr>
 <tr>
@@ -2066,6 +2092,19 @@ time
 
 Timestamp of image
 
+</td>
+</tr>
+<tr>
+<td><code>frame_id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+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.
+
 </td>
 </tr>
 <tr>

package/schemas/jsonschema/CameraCalibration.json

@@ -20,6 +20,10 @@
       },
       "description": "Timestamp of calibration data"
     },
+    "frame_id": {
+      "type": "string",
+      "description": "Frame of reference for the camera. 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,

package/schemas/jsonschema/CompressedImage.json

@@ -20,6 +20,10 @@
       },
       "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."
+    },
     "data": {
       "type": "string",
       "contentEncoding": "base64",

package/schemas/jsonschema/RawImage.json

@@ -20,6 +20,10 @@
       },
       "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,

package/schemas/proto/foxglove/CameraCalibration.proto

@@ -11,6 +11,9 @@ message CameraCalibration {
   // Timestamp of calibration data
   google.protobuf.Timestamp timestamp = 1;
 
+  // Frame of reference for the camera. 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.
+  string frame_id = 9;
+
   // Image width
   fixed32 width = 2;
 

package/schemas/proto/foxglove/CompressedImage.proto

@@ -11,6 +11,9 @@ message CompressedImage {
   // Timestamp of image
   google.protobuf.Timestamp timestamp = 1;
 
+  // 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.
+  string frame_id = 4;
+
   // Compressed image data
   bytes data = 2;
 

package/schemas/proto/foxglove/RawImage.proto

@@ -11,6 +11,9 @@ message RawImage {
   // Timestamp of image
   google.protobuf.Timestamp timestamp = 1;
 
+  // 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.
+  string frame_id = 7;
+
   // Image width
   fixed32 width = 2;
 

package/schemas/ros1/CameraCalibration.msg

@@ -6,6 +6,9 @@
 # Timestamp of calibration data
 time timestamp
 
+# Frame of reference for the camera. 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.
+string frame_id
+
 # Image width
 uint32 width
 

package/schemas/ros1/CompressedImage.msg

@@ -6,6 +6,9 @@
 # Timestamp of image
 time timestamp
 
+# 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.
+string frame_id
+
 # Compressed image data
 uint8[] data
 

package/schemas/ros1/RawImage.msg

@@ -6,6 +6,9 @@
 # Timestamp of image
 time timestamp
 
+# 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.
+string frame_id
+
 # Image width
 uint32 width
 

package/schemas/ros2/CameraCalibration.msg

@@ -6,6 +6,9 @@
 # Timestamp of calibration data
 builtin_interfaces/Time timestamp
 
+# Frame of reference for the camera. 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.
+string frame_id
+
 # Image width
 uint32 width
 

package/schemas/ros2/CompressedImage.msg

@@ -6,6 +6,9 @@
 # Timestamp of image
 builtin_interfaces/Time timestamp
 
+# 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.
+string frame_id
+
 # Compressed image data
 uint8[] data
 

package/schemas/ros2/RawImage.msg

@@ -6,6 +6,9 @@
 # Timestamp of image
 builtin_interfaces/Time timestamp
 
+# 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.
+string frame_id
+
 # Image width
 uint32 width
 

package/schemas/typescript/CameraCalibration.ts

@@ -7,6 +7,9 @@ export type CameraCalibration = {
   /** Timestamp of calibration data */
   timestamp: Time;
 
+  /** Frame of reference for the camera. 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. */
+  frame_id: string;
+
   /** Image width */
   width: number;
 

package/schemas/typescript/CompressedImage.ts

@@ -7,6 +7,9 @@ export type CompressedImage = {
   /** Timestamp of image */
   timestamp: Time;
 
+  /** 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. */
+  frame_id: string;
+
   /** Compressed image data */
   data: Uint8Array;
 

package/schemas/typescript/RawImage.ts

@@ -7,6 +7,9 @@ export type RawImage = {
   /** Timestamp of image */
   timestamp: Time;
 
+  /** 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. */
+  frame_id: string;
+
   /** Image width */
   width: number;