RH_cameras/CameraInfo

# This message defines camera parameters in the robot head stereo configuration
# Default message path: /RH/stereo/cameras_info

# Time of image acquisition, camera coordinate frame ID (Default: Left camera)
Header header

# The image dimensions with which the camera was calibrated. Normally
# this will be the full camera resolution in pixels.
uint32 height
uint32 width

# The distortion parameters (vector of 5 elements)
float64[] D

# Intrinsic camera matrix of each camera.
#     [fx  0 cx]
# K = [ 0 fy cy]
#     [ 0  0  1]
# 3x3 row-major matrix
float64[] K

# Projection/camera matrix of each camera
#      [1 0 0 0]
# P1 = [0 1 0 0]
#      [0 0 1 0]
# or
#      [fx'  0  cx' Tx]
# P2 = [ 0  fy' cy' Ty]
#      [ 0   0   1   0]
#
# 3x4 row-major matrix
float64[] P

# Fundamental Matrix
float64[] F