aruco_ros/include/aruco_ros/aruco_ros_utils.h

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#ifndef ARUCO_ROS_UTILS_H
#define ARUCO_ROS_UTILS_H

#include <aruco/aruco.h>
#include <sensor_msgs/CameraInfo.h>
#include <tf/transform_datatypes.h>

namespace aruco_ros
{
  aruco::CameraParameters rosCameraInfo2ArucoCamParams(const sensor_msgs::CameraInfo& cam_info,
                                                       bool useRectifiedParameters);

  //FIXME: make parameter const as soon as the used function is also const
  tf::Transform arucoMarker2Tf(const aruco::Marker& marker, bool rotate_marker_axis=true);

}
#endif // ARUCO_ROS_UTILS_H