image_utilities.h

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#pragma once

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

#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>

#include "nxLib.h"

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

std::vector<std::pair<sensor_msgs::ImagePtr, sensor_msgs::ImagePtr>> imagePairsFromNxLibNode(NxLibItem const& node,
                                                                                             std::string const& frame);

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

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

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

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