27 lines
635 B
C++
27 lines
635 B
C++
#pragma once
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#include <cstddef>
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#include <cstdint>
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#include <opencv2/core.hpp>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include "cloud_reprojector.hpp"
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namespace odin_ros_driver {
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cv::Mat resize_to_height(const cv::Mat& src, int target_h);
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cv::Mat decode_compressed_to_bgr(const uint8_t* data, size_t len);
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cv::Mat overlay_projected_cloud_on_image(
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const cv::Mat& camera_bgr,
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const pcl::PointCloud<pcl::PointXYZRGB>& cloud_in_cam,
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const CloudReprojector::CameraParams& cam_params,
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int point_radius = 2,
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float min_depth = 0.5f,
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float max_depth = 30.0f);
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} // namespace odin_ros_driver
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