diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6a6db499e6e3686e61226b7e77b66a91a28a98f2..310766263f32c40b09b42a4caa2af5b8a02e19e9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -253,6 +253,7 @@ add_message_files(
   GimbalInfo.msg
   UuidImage.msg
   UuidCompressedImage.msg
+  InferenceVisionDetection.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/msg/InferenceVisionDetection.msg b/msg/InferenceVisionDetection.msg
new file mode 100644
index 0000000000000000000000000000000000000000..dd40eaef693404d4a67926b2595fbb6008969b4a
--- /dev/null
+++ b/msg/InferenceVisionDetection.msg
@@ -0,0 +1,4 @@
+
+lrs_msgs_common/TritonDetectionRawArray vis_det_raw_array # raw data from a detector
+sensor_msgs/CameraInfo camera_info # the related camera info
+geometry_msgs/Transform c2w_transform # camera to world transform (to avoid dealing with tf and listening)