foxglove · jtbandes · Sep 7, 2022 · Aug 31, 2022 · Sep 1, 2022 · Sep 1, 2022
diff --git a/ros_foxglove_msgs/ros1/CameraCalibration.msg b/ros_foxglove_msgs/ros1/CameraCalibration.msg
diff --git a/ros_foxglove_msgs/ros1/CompressedImage.msg b/ros_foxglove_msgs/ros1/CompressedImage.msg
diff --git a/ros_foxglove_msgs/ros1/RawImage.msg b/ros_foxglove_msgs/ros1/RawImage.msg
diff --git a/ros_foxglove_msgs/ros2/CameraCalibration.msg b/ros_foxglove_msgs/ros2/CameraCalibration.msg
diff --git a/ros_foxglove_msgs/ros2/CompressedImage.msg b/ros_foxglove_msgs/ros2/CompressedImage.msg
diff --git a/ros_foxglove_msgs/ros2/RawImage.msg b/ros_foxglove_msgs/ros2/RawImage.msg
diff --git a/schemas/README.md b/schemas/README.md
diff --git a/schemas/jsonschema/CameraCalibration.json b/schemas/jsonschema/CameraCalibration.json
diff --git a/schemas/jsonschema/CompressedImage.json b/schemas/jsonschema/CompressedImage.json
diff --git a/schemas/jsonschema/RawImage.json b/schemas/jsonschema/RawImage.json
diff --git a/schemas/proto/foxglove/CameraCalibration.proto b/schemas/proto/foxglove/CameraCalibration.proto
diff --git a/schemas/proto/foxglove/CompressedImage.proto b/schemas/proto/foxglove/CompressedImage.proto
diff --git a/schemas/proto/foxglove/RawImage.proto b/schemas/proto/foxglove/RawImage.proto
diff --git a/schemas/ros1/CameraCalibration.msg b/schemas/ros1/CameraCalibration.msg
diff --git a/schemas/ros1/CompressedImage.msg b/schemas/ros1/CompressedImage.msg
diff --git a/schemas/ros1/RawImage.msg b/schemas/ros1/RawImage.msg
diff --git a/schemas/ros2/CameraCalibration.msg b/schemas/ros2/CameraCalibration.msg
diff --git a/schemas/ros2/CompressedImage.msg b/schemas/ros2/CompressedImage.msg
diff --git a/schemas/ros2/RawImage.msg b/schemas/ros2/RawImage.msg
diff --git a/schemas/typescript/CameraCalibration.ts b/schemas/typescript/CameraCalibration.ts
diff --git a/schemas/typescript/CompressedImage.ts b/schemas/typescript/CompressedImage.ts
diff --git a/schemas/typescript/RawImage.ts b/schemas/typescript/RawImage.ts
diff --git a/src/schemas.ts b/src/schemas.ts
@@ -741,6 +741,12 @@ Given a 3D point [X Y Z]', the projection (x, y) of the point onto the rectified
 This holds for both images of a stereo pair.
 `,
     },
+    {
+      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.",
+    },
   ],
 };
 
@@ -764,6 +770,12 @@ const CompressedImage: FoxgloveMessageSchema = {
       type: { type: "primitive", name: "string" },
       description: "Image format",
     },
+    {
+      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.",
+    },
   ],
 };
 
@@ -802,6 +814,12 @@ const RawImage: FoxgloveMessageSchema = {
       type: { type: "primitive", name: "bytes" },
       description: "Raw image data",
     },
+    {
+      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.",
+    },
   ],
 };