55 lines
1.0 KiB
C++
55 lines
1.0 KiB
C++
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# Time of image acquisition, camera coordinate frame ID
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Header header # Header timestamp should be acquisition time of image
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uint32 height
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uint32 width
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string distortion_model
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float64[] D
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float64[9] K # 3x3 row-major matrix
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float64[9] R # 3x3 row-major matrix
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float64[12] P # 3x4 row-major matrix
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uint32 binning_x
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uint32 binning_y
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RegionOfInterest roi
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#pragma once
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#include <string>
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#include <vector>
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#include "msg/Header.h"
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#include "msg/RegionOfInterest.h"
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namespace sensor_msgs
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{
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struct CameraInfo
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{
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std_msgs::Header header; // thời gian và frame_id
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// Calibration parameters
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uint32_t height = 0;
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uint32_t width = 0;
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std::string distortion_model;
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std::vector<double> D; // distortion coefficients
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double K[9] = {0.0}; // intrinsic matrix
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double R[9] = {0.0}; // rectification matrix
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double P[12] = {0.0}; // projection matrix
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// Operational parameters
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uint32_t binning_x = 0;
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uint32_t binning_y = 0;
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sensor_msgs::RegionOfInterest roi;
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};
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} // namespace sensor_msgs
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