Rename class PinholeCameraModel to CameraModel and headers

PinholeCameraModel is misleading now that fisheye model (KB) was introduced. Hence, rename the class and file to a more general name.
Class CameraModel does use the distortion model specified in the camera_info, namely pinhole, fisheye and rationa_polynomial

Author: DavidTorresOcana

depth_image_proc/include/depth_image_proc/depth_conversions.h

@@ -36,7 +36,7 @@
 
 #include <sensor_msgs/Image.h>
 #include <sensor_msgs/point_cloud2_iterator.h>
-#include <image_geometry/pinhole_camera_model.h>
+#include <image_geometry/camera_model.h>
 #include <depth_image_proc/depth_traits.h>
 
 #include <limits>
@@ -50,7 +50,7 @@ template<typename T>
 void convert(
     const sensor_msgs::ImageConstPtr& depth_msg,
     PointCloud::Ptr& cloud_msg,
-    const image_geometry::PinholeCameraModel& model,
+    const image_geometry::CameraModel& model,
     double range_max = 0.0)
 {
   // Use correct principal point from calibration

depth_image_proc/src/nodelets/point_cloud_xyz.cpp

@@ -35,7 +35,7 @@
 #include <nodelet/nodelet.h>
 #include <image_transport/image_transport.h>
 #include <sensor_msgs/image_encodings.h>
-#include <image_geometry/pinhole_camera_model.h>
+#include <image_geometry/camera_model.h>
 #include <boost/thread.hpp>
 #include <depth_image_proc/depth_conversions.h>
 
@@ -57,7 +57,7 @@ class PointCloudXyzNodelet : public nodelet::Nodelet
   typedef sensor_msgs::PointCloud2 PointCloud;
   ros::Publisher pub_point_cloud_;
 
-  image_geometry::PinholeCameraModel model_;
+  image_geometry::CameraModel model_;
 
   virtual void onInit();
 

depth_image_proc/src/nodelets/point_cloud_xyz_radial.cpp

@@ -35,7 +35,7 @@
 #include <nodelet/nodelet.h>
 #include <image_transport/image_transport.h>
 #include <sensor_msgs/image_encodings.h>
-#include <image_geometry/pinhole_camera_model.h>
+#include <image_geometry/camera_model.h>
 #include <boost/thread.hpp>
 #include <depth_image_proc/depth_traits.h>
 

depth_image_proc/src/nodelets/point_cloud_xyzi.cpp

@@ -46,7 +46,7 @@
 #include <sensor_msgs/image_encodings.h>
 #include <sensor_msgs/point_cloud2_iterator.h>
 #include <sensor_msgs/PointCloud2.h>
-#include <image_geometry/pinhole_camera_model.h>
+#include <image_geometry/camera_model.h>
 #include <depth_image_proc/depth_traits.h>
 #include <cv_bridge/cv_bridge.h>
 #include <opencv2/imgproc/imgproc.hpp>
@@ -73,7 +73,7 @@ class PointCloudXyziNodelet : public nodelet::Nodelet
   typedef sensor_msgs::PointCloud2 PointCloud;
   ros::Publisher pub_point_cloud_;
 
-  image_geometry::PinholeCameraModel model_;
+  image_geometry::CameraModel model_;
 
   virtual void onInit();
 

depth_image_proc/src/nodelets/point_cloud_xyzi_radial.cpp

@@ -39,7 +39,7 @@
 #include <message_filters/subscriber.h>
 #include <message_filters/synchronizer.h>
 #include <message_filters/sync_policies/exact_time.h>
-#include <image_geometry/pinhole_camera_model.h>
+#include <image_geometry/camera_model.h>
 #include <boost/thread.hpp>
 #include <depth_image_proc/depth_traits.h>
 

depth_image_proc/src/nodelets/point_cloud_xyzrgb.cpp

@@ -47,7 +47,7 @@
 #include <sensor_msgs/image_encodings.h>
 #include <sensor_msgs/point_cloud2_iterator.h>
 #include <sensor_msgs/PointCloud2.h>
-#include <image_geometry/pinhole_camera_model.h>
+#include <image_geometry/camera_model.h>
 #include <depth_image_proc/depth_traits.h>
 #include <cv_bridge/cv_bridge.h>
 #include <opencv2/imgproc/imgproc.hpp>
@@ -77,7 +77,7 @@ class PointCloudXyzrgbNodelet : public nodelet::Nodelet
   typedef sensor_msgs::PointCloud2 PointCloud;
   ros::Publisher pub_point_cloud_;
 
-  image_geometry::PinholeCameraModel model_;
+  image_geometry::CameraModel model_;
 
   virtual void onInit();
 

depth_image_proc/src/nodelets/register.cpp

@@ -41,7 +41,7 @@
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 #include <sensor_msgs/image_encodings.h>
-#include <image_geometry/pinhole_camera_model.h>
+#include <image_geometry/camera_model.h>
 #include <Eigen/Geometry>
 #include <eigen_conversions/eigen_msg.h>
 #include <depth_image_proc/depth_traits.h>
@@ -69,7 +69,7 @@ class RegisterNodelet : public nodelet::Nodelet
   boost::mutex connect_mutex_;
   image_transport::CameraPublisher pub_registered_;
 
-  image_geometry::PinholeCameraModel depth_model_, rgb_model_;
+  image_geometry::CameraModel depth_model_, rgb_model_;
 
   virtual void onInit();
 

image_proc/include/image_proc/processor.h

@@ -35,7 +35,7 @@
 #define IMAGE_PROC_PROCESSOR_H
 
 #include <opencv2/core/core.hpp>
-#include <image_geometry/pinhole_camera_model.h>
+#include <image_geometry/camera_model.h>
 #include <sensor_msgs/Image.h>
 
 namespace image_proc {
@@ -68,7 +68,7 @@ class Processor
   };
 
   bool process(const sensor_msgs::ImageConstPtr& raw_image,
-               const image_geometry::PinholeCameraModel& model,
+               const image_geometry::CameraModel& model,
                ImageSet& output, int flags = ALL) const;
 };
 

image_proc/src/libimage_proc/processor.cpp

@@ -40,7 +40,7 @@ namespace image_proc {
 namespace enc = sensor_msgs::image_encodings;
 
 bool Processor::process(const sensor_msgs::ImageConstPtr& raw_image,
-                        const image_geometry::PinholeCameraModel& model,
+                        const image_geometry::CameraModel& model,
                         ImageSet& output, int flags) const
 {
   static const int MONO_EITHER = MONO | RECT;

image_proc/src/nodelets/rectify.cpp

@@ -39,7 +39,7 @@
 #include <ros/ros.h>
 #include <nodelet/nodelet.h>
 #include <image_transport/image_transport.h>
-#include <image_geometry/pinhole_camera_model.h>
+#include <image_geometry/camera_model.h>
 #include <cv_bridge/cv_bridge.h>
 #include <dynamic_reconfigure/server.h>
 #include <image_proc/RectifyConfig.h>
@@ -64,7 +64,7 @@ class RectifyNodelet : public nodelet::Nodelet
   Config config_;
 
   // Processing state (note: only safe because we're using single-threaded NodeHandle!)
-  image_geometry::PinholeCameraModel model_;
+  image_geometry::CameraModel model_;
 
   virtual void onInit();