#pragma once

#include <cstddef>
#include <cstdint>

#include <opencv2/core.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include "cloud_reprojector.hpp"

namespace odin_ros_driver {

cv::Mat resize_to_height(const cv::Mat& src, int target_h);

cv::Mat decode_compressed_to_bgr(const uint8_t* data, size_t len);

cv::Mat overlay_projected_cloud_on_image(
    const cv::Mat& camera_bgr,
    const pcl::PointCloud<pcl::PointXYZRGB>& cloud_in_cam,
    const CloudReprojector::CameraParams& cam_params,
    int point_radius = 2,
    float min_depth = 0.5f,
    float max_depth = 30.0f);

}  // namespace odin_ros_driver