`image_geometry` contains C++ and Python libraries for interpreting images
geometrically. It interfaces the calibration parameters in sensor_msgs/CameraInfo
messages with OpenCV functions such as image rectification, much as cv_bridge
interfaces ROS sensor_msgs/Image with OpenCV data types.
image_geometry contains camera model classes that simplify interpreting images geometrically using the calibration parameters from sensor_msgs/CameraInfo messages. They may be efficiently updated in your image callback:
void imageCb(const sensor_msgs::ImageConstPtr& raw_image,
const sensor_msgs::CameraInfoConstPtr& cam_info)
image_geometry contains two classes: