#include <m3api/xiApi.h>#include <ros/ros.h>#include <image_transport/image_transport.h>#include <image_transport/publisher.h>#include <sensor_msgs/Image.h>#include <sensor_msgs/CameraInfo.h>#include <std_msgs/UInt8.h>#include <camera_info_manager/camera_info_manager.h>#include <stdio.h>#include <stdlib.h>#include <iostream>#include <string>#include <fstream>#include <yaml-cpp/yaml.h>
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