Have a look at this. It probably does exacty what you want.

http://www.ros.org/wiki/camera_info_manager

On Thu, Oct 14, 2010 at 2:18 PM, hudvin <hudvin@gmail.com> wrote:
>
> I have a set of stereo pairs. According to docs I should attach CameraInfo to
> each frame. What are the right params for this structure?
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