image_utilities.h

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#pragma once

#include "ensenso_camera/ros2/namespace.h"
#include "ensenso_camera/ros2/time.h"

#include "ensenso_camera/ros2/sensor_msgs/camera_info.h"
#include "ensenso_camera/ros2/sensor_msgs/image.h"

#include <utility>
#include <string>
#include <vector>

#include "nxLib.h"

using Image = sensor_msgs::msg::Image;
using ImagePtr = sensor_msgs::msg::ImagePtr;
using ImagePtrPair = std::pair<ImagePtr, ImagePtr>;

ImagePtr imageFromNxLibNode(NxLibItem const& node, std::string const& frame, bool isFileCamera);

std::vector<ImagePtrPair> imagePairsFromNxLibNode(NxLibItem const& node, std::string const& frame, bool isFileCamera);

std::vector<ImagePtr> imagesFromNxLibNode(NxLibItem const& node, std::string const& frame, bool isFileCamera);

ensenso::ros::Time timestampFromNxLibNode(NxLibItem const& node);

ImagePtr depthImageFromNxLibNode(NxLibItem const& node, std::string const& frame, bool isFileCamera);

void fillDistortionParamsFromNxLib(NxLibItem const& distortionItem, sensor_msgs::msg::CameraInfoPtr const& info);