CameraInfo.h

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// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
#include <array>
#include <cstdint>
#include <string>
#include <vector>
#include "carla/ros2/types/msg/Header.h"
#include "carla/ros2/types/msg/RegionOfInterest.h"
 
namespace carla {
namespace ros2 {
namespace msg {
 
struct CameraInfo {
  Header header;
  uint32_t height = 0;
  uint32_t width = 0;
  std::string distortion_model;
  std::vector<double> d;
  std::array<double, 9> k = {};
  std::array<double, 9> r = {};
  std::array<double, 12> p = {};
  uint32_t binning_x = 0;
  uint32_t binning_y = 0;
  RegionOfInterest roi;
};
 
} // namespace msg
} // namespace ros2
} // namespace carla