feat: add ROS camera info api.

include/mynteye/api/api.h

@@ -363,6 +363,11 @@ class MYNTEYE_API API {
   /** Enable process mode, e.g. imu assembly, temp_drift */
   void EnableProcessMode(const std::int32_t& mode);
 
+  /** 
+   * Get ROS need camera info struct
+   */
+  std::shared_ptr<struct CameraROSMsgInfoPair> GetCameraROSMsgInfoPair();
+
  private:
   std::shared_ptr<Device> device_;
 

include/mynteye/types.h

@@ -16,6 +16,7 @@
 #pragma once
 
 #include <memory.h>
+#include <string>
 
 #include <cstdint>
 
@@ -670,7 +671,6 @@ struct MYNTEYE_API DisparityParamsBM : public DisparityParamsBase {
   }
 };
 
-
 /**
  * @defgroup datatypes Datatypes
  * @brief Public data types.
@@ -764,6 +764,38 @@ struct MYNTEYE_API OptionInfo {
 MYNTEYE_API
 std::ostream &operator<<(std::ostream &os, const OptionInfo &info);
 
+/**
+ * @ingroup datatypes
+ * ROS camera info.
+ */
+struct MYNTEYE_API CameraROSMsgInfo {
+  /** height */
+  unsigned int height = 0;
+  /** width */
+  unsigned int width = 0;
+  /** calib model */
+  std::string distortion_model = "null";
+  double  D[5] = {0};
+  double  K[9] = {0};
+  double  R[9] = {0};
+  double  P[12] = {0};
+};
+MYNTEYE_API
+std::ostream &operator<<(std::ostream &os, const CameraROSMsgInfo &info);
+
+struct CameraROSMsgInfoPair {
+  inline bool isEmpty() {
+    return left.height * left.width * right.height * right.width <= 0;
+  }
+  struct CameraROSMsgInfo left;
+  struct CameraROSMsgInfo right;
+  double T_mul_f = -1.f;
+  double  R[9] = {0};
+  double  P[12] = {0};
+};
+MYNTEYE_API
+std::ostream &operator<<(std::ostream &os, const CameraROSMsgInfoPair &info);
+
 MYNTEYE_END_NAMESPACE
 
 #endif  // MYNTEYE_TYPES_H_