camera_info_t变量原型

camera_info_t 是 ROS (Robot Operating System) 中一个用于存储相机参数信息的数据结构，其原型定义如下：

struct CameraInfo_
{
  // CameraInfo_<T> should be a POD, but it's not because
  // there is a bug in gcc3.3 that prevents it from correctly
  // compiling its own STL headers with PODs.
  //
  // The bug is fixed in gcc 3.4 and later versions.
  std::vector<double> D;           /**< Distorion coeffs [k1, k2, t1, t2, k3, k4, k5, k6] */
  double K[9];                     /**< Intrinsic camera matrix for the raw (distorted) images. */
  double R[9];                     /**< Rectification matrix (stereo cameras only) */
  double P[12];                    /**< Projection/camera matrix */
  int    width, height;            /**< Image dimensions */
  std::string distortion_model;    /**< Distortion model name */
  std::vector<double> P_;          /**< The full 12-element projection matrix */
};
typedef CameraInfo_<float> CameraInfo;

其中，camera_info_t 是 CameraInfo_\<float> 的别名，类型为 CameraInfo。该结构体包含了相机的内部参数（如相机内参矩阵、畸变系数等）和外部参数（如投影矩阵、图像尺寸等），用于进行相机标定、相机姿态估计等任务。