moved camera calibration information into a struct to make data handling smoother

include/msckf_vio/cam_state.h

@@ -15,6 +15,21 @@
 #include "imu_state.h"
 
 namespace msckf_vio {
+
+struct IlluminationParameter{
+  double frame_bias;
+  double frame_gain;
+  double feature_bias;
+  double feature_gain;
+};
+
+struct CameraCalibration{
+  std::string distortion_model;
+  cv::Vec2i resolution;
+  cv::Vec4d intrinsics;
+  cv::Vec4d distortion_coeffs;
+};
+
 /*
  * @brief CAMState Stored camera state in order to
  *    form measurement model.
@@ -35,7 +50,7 @@ struct CAMState {
   // Position of the camera frame in the world frame.
   Eigen::Vector3d position;
 
-  //Illumination illumination; 
+  IlluminationParameter illumination; 
 
   // These two variables should have the same physical
   // interpretation with `orientation` and `position`.

include/msckf_vio/image_processor.h

@@ -22,6 +22,8 @@
 #include <message_filters/subscriber.h>
 #include <message_filters/time_synchronizer.h>
 
+#include "cam_state.h"
+
 namespace msckf_vio {
 
 /*
@@ -332,15 +334,8 @@ private:
   std::vector<sensor_msgs::Imu> imu_msg_buffer;
 
   // Camera calibration parameters
-  std::string cam0_distortion_model;
-  cv::Vec2i cam0_resolution;
-  cv::Vec4d cam0_intrinsics;
-  cv::Vec4d cam0_distortion_coeffs;
-
-  std::string cam1_distortion_model;
-  cv::Vec2i cam1_resolution;
-  cv::Vec4d cam1_intrinsics;
-  cv::Vec4d cam1_distortion_coeffs;
+  CameraCalibration cam0;
+  CameraCalibration cam1;
 
   // Take a vector from cam0 frame to the IMU frame.
   cv::Matx33d R_cam0_imu;

include/msckf_vio/msckf_vio.h

@@ -221,15 +221,9 @@ class MsckfVio {
     movingWindow cam1_moving_window;
 
     // Camera calibration parameters
-    std::string cam0_distortion_model;
-    cv::Vec2i cam0_resolution;
-    cv::Vec4d cam0_intrinsics;
-    cv::Vec4d cam0_distortion_coeffs;
+    CameraCalibration cam0;
+    CameraCalibration cam1;
 
-    std::string cam1_distortion_model;
-    cv::Vec2i cam1_resolution;
-    cv::Vec4d cam1_intrinsics;
-    cv::Vec4d cam1_distortion_coeffs;
 
     // Indicate if the gravity vector is set.
     bool is_gravity_set;