#ifndef C_API_SENSOR_MSGS_CAMERAINFO_H
#define C_API_SENSOR_MSGS_CAMERAINFO_H

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "sensor_msgs/RegionOfInterest.h"

typedef struct
{
  Header header;
  uint32_t height;
  uint32_t width;
  char *distortion_model;
  double *D;
  size_t D_count;
  double K[9];
  double R[9];
  double P[12];
  uint32_t binning_x;
  uint32_t binning_y;
  RegionOfInterest roi;
} CameraInfo;

#ifdef __cplusplus
}
#endif

#endif // C_API_SENSOR_MSGS_CAMERAINFO_H
