[Rock-dev] CameraCalibration types

[Jakob Schwendner]

Hi,

I've observed that there are multiple places, which use their own camera 
calibration types (frame_helper, dense_stereo, visOdo, maybe more?)

The type in frame_helper was a strange mixture of single and stereo 
calibration, which I've broken up now in mono and stereo. To use, 
include 'frame_helper/Calibration.h' (yes, this name is not per 
styleguide but consistent with the rest of the package :( ).

For a single camera (mainly undistortion) use
frame_helper::CameraCalibration

For stereo (includes two CameraCalibration and extrinsic parameters) use
frame_helper::StereoCalibration

I've also added helper classes to handle with initialisation of opencv 
structures related to calibration
include is 'frame_helper/CalibrationCv.h' and the classes are 
CameraCalibrationCv and StereoCalibrationCv.

Please try to use (and extend if you like) these types for any 
calibration related things, and if possible change any private types 
that you have in your modules.

*I will push the changes as soon as gitorious.org is back up*

cheers,

Jakob

-- 
Jakob Schwendner, M.Sc.
Researcher

DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany

Phone: +49 (0)421 17845-4120
Fax:   +49 (0)421 17845-4150
E-Mail: jakob.schwendner at dfki.de

Weitere Informationen: http://www.dfki.de/robotik
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