#include <cmath>
#include <algorithm>
#include <iomanip>
#include <cstdint>
#include <yarp/os/LogComponent.h>
#include <yarp/os/Value.h>
#include <yarp/sig/ImageUtils.h>
#include <yarp/dev/RGBDSensorParamParser.h>
#include "RGBDRosConversionUtils.h"
#include "rosPixelCode.h"