feat<all> 1.add cloud_raw confidence filter threshold to config yaml}

2.update sdk for ntp functions
          3.add set camera FPS function in yaml(10FPS,14.5FPS)
          4.release ros driver 0.9.0
          5.Add time alignment mode for odin1 device synchronization with host
          6.Add new time alignment option (use_host_ros_time=2) to align odin1 sensor timestamps to host time axis using PTP sync data
          7.Implement PTP smoothing with 30-sample moving average window for delay and offset calculations
          8.Refactor timestamp handling with make_aligned_stamp() helper function to centralize time conversion logic across all data types (IMU, point clouds, images, odometry)
          9.Add LIDAR_DT_NTP data type for receiving
          10.add imu data record
          11.add cloud reprojection demo

include/cloud_reprojector.hpp

@@ -0,0 +1,79 @@
+/*
+Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co)
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+   http://www.apache.org/licenses/LICENSE-2.0
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+#pragma once
+
+#include <Eigen/Dense>
+#include <Eigen/Geometry>
+#include <opencv2/opencv.hpp>
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+#include <pcl/common/transforms.h>
+
+#include "polynomial_camera.hpp"
+
+#include <memory>
+
+class CloudReprojector
+{
+public:
+    struct CameraParams
+    {
+        int image_width = 1600;
+        int image_height = 1296;
+        double A11 = 0.0, A12 = 0.0, A22 = 0.0;
+        double u0 = 0.0, v0 = 0.0;
+        double k2 = 0.0, k3 = 0.0, k4 = 0.0, k5 = 0.0, k6 = 0.0, k7 = 0.0;
+    };
+
+    struct ExtrinsicParams
+    {
+        Eigen::Matrix4d Tcl = Eigen::Matrix4d::Identity();  // camera to lidar
+        Eigen::Matrix4d Til = Eigen::Matrix4d::Identity();  // lidar to imu (fixed)
+        Eigen::Matrix4d Tic = Eigen::Matrix4d::Identity();  // camera to imu (calculated)
+    };
+
+    struct OdomPose
+    {
+        Eigen::Quaterniond orientation = Eigen::Quaterniond::Identity();
+        Eigen::Vector3d position = Eigen::Vector3d::Zero();
+    };
+
+    CloudReprojector();
+    ~CloudReprojector() = default;
+
+    bool initialize(const CameraParams& cam_params, const ExtrinsicParams& ext_params);
+
+    cv::Mat reprojectCloud(const pcl::PointCloud<pcl::PointXYZRGB>& cloud_odom,
+                           const OdomPose& odom_pose);
+
+    void setPointRadius(int radius) { point_radius_ = radius; }
+    int getPointRadius() const { return point_radius_; }
+
+    const CameraParams& getCameraParams() const { return camera_params_; }
+    const ExtrinsicParams& getExtrinsicParams() const { return extrinsic_params_; }
+
+    static Eigen::Matrix4d calculateTic(const Eigen::Matrix4d& Tcl, const Eigen::Matrix4d& Til);
+
+private:
+    Eigen::Matrix4d odomPoseToMatrix(const OdomPose& odom) const;
+
+    cv::Mat projectCloudToImage(const pcl::PointCloud<pcl::PointXYZRGB>& cloud_in_cam) const;
+
+    CameraParams camera_params_;
+    ExtrinsicParams extrinsic_params_;
+    std::unique_ptr<mini_vikit::PolynomialCamera> camera_model_;
+
+    int point_radius_ = 4;
+    bool initialized_ = false;
+};