.. _program_listing_file__tmp_ws_src_aruco_opencv_aruco_opencv_include_aruco_opencv_utils.hpp:

Program Listing for File utils.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_aruco_opencv_aruco_opencv_include_aruco_opencv_utils.hpp>` (``/tmp/ws/src/aruco_opencv/aruco_opencv/include/aruco_opencv/utils.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2022 Kell Ideas sp. z o.o.
   //
   // Permission is hereby granted, free of charge, to any person obtaining a copy
   // of this software and associated documentation files (the "Software"), to deal
   // in the Software without restriction, including without limitation the rights
   // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   // copies of the Software, and to permit persons to whom the Software is
   // furnished to do so, subject to the following conditions:
   //
   // The above copyright notice and this permission notice shall be included in
   // all copies or substantial portions of the Software.
   //
   // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
   // THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
   // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
   // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
   // THE SOFTWARE.
   
   #pragma once
   
   #include <string>
   #include <unordered_map>
   
   #include <opencv2/aruco.hpp>
   #include <opencv2/calib3d.hpp>
   
   #include "geometry_msgs/msg/pose.hpp"
   #include "cv_bridge/cv_bridge.h"
   
   namespace aruco_opencv
   {
   
   geometry_msgs::msg::Pose convert_rvec_tvec(const cv::Vec3d & rvec, const cv::Vec3d & tvec);
   
   extern const std::unordered_map<std::string, cv::aruco::PREDEFINED_DICTIONARY_NAME> ARUCO_DICT_MAP;
   
   }  // namespace aruco_opencv