Program Listing for File utils.hpp

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// 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
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// 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.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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#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