[ros-users] PR-2 Camera frames

Hi ,
I wanted to know what the camera frames corresponding to the PR-2 are?
The PR-2 at Upenn publishes
narrow_stereo_gazebo_l_stereo_camera_frame and similar ones for the
right, and wide stereo pair.
Is this the valid camera frame? Also the
_stereo_camera_optical_frame(gazebo version). Is it pixel
co-ordinates?
I'm confused . Can someone point me in the right direction?

Bharath Sankaran
Research Assistant
GRASP Lab, University of Pennsylvania