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2026-10-07 21:37:46 +08:00 · 2022-06-06 19:00:12 +08:00
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+/**************************************************************************/
+/*                                                                        */
+/* Copyright (c) 2013-2021 Orbbec 3D Technology, Inc                      */
+/*                                                                        */
+/* PROPRIETARY RIGHTS of Orbbec 3D Technology are involved in the         */
+/* subject matter of this material. All manufacturing, reproduction, use, */
+/* and sales rights pertaining to this subject matter are governed by the */
+/* license agreement. The recipient of this software implicitly accepts   */
+/* the terms of the license.                                              */
+/*                                                                        */
+/**************************************************************************/
+
+#pragma once
+#include <ostream>
+#include <glog/logging.h>
+#include <magic_enum.hpp>
+#include "libobsensor/ObSensor.hpp"
+#include <Eigen/Dense>
+#include <tf2/LinearMath/Quaternion.h>
+
+#include "sensor_msgs/distortion_models.hpp"
+#include "sensor_msgs/msg/camera_info.hpp"
+#include <orbbec_camera_msgs/msg/extrinsics.hpp>
+
+namespace orbbec_camera {
+sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
+                                                 OBCameraDistortion distortion);
+
+void saveRGBPointsToPly(std::shared_ptr<ob::Frame> frame, std::string fileName);
+
+void savePointsToPly(std::shared_ptr<ob::Frame> frame, std::string fileName);
+
+tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]);
+
+std::ostream& operator<<(std::ostream& os, const OBCameraParam& rhs);
+
+std::string strToLowercase(const std::string &str);
+
+orbbec_camera_msgs::msg::Extrinsics obExtrinsicsToMsg(const OBD2CTransform& extrinsics,
+                                                      const std::string& frame_id);
+
+}  // namespace orbbec_camera