text: #include "ros_wrappers/ros_utils.h"
  #include "boss/id_context.h"
  
  #include "fps_map/local_map.h"
  #include "fps_map/map_node.h"
  #include "fps_map/image_map_node.h"
  #include "fps_map/multi_image_map_node.h"
  #include "fps_map/binary_node_relation.h"
  #include "core/base_camera_info.h"
  #include "core/pinhole_camera_info.h"
  #include "core/multi_camera_info.h"
  
  #include "fps_mapper/RichPointMsg.h"
  #include "fps_mapper/CloudMsg.h"
  #include "fps_mapper/PinholeCameraInfoMsg.h"
  #include "fps_mapper/MultiCameraInfoMsg.h"
  #include "fps_mapper/MapNodeMsg.h"
  #include "fps_mapper/ImageMapNodeMsg.h"
  #include "fps_mapper/MultiImageMapNodeMsg.h"
  #include "fps_mapper/LocalMapMsg.h"
  #include "fps_mapper/BinaryNodeRelationMsg.h"
  
  
  namespace fps_mapper{
  
    void msg2cloud(fps_mapper::Cloud& dest,    const fps_mapper::CloudMsg& src);  
    void cloud2msg(fps_mapper::CloudMsg& dest, const fps_mapper::Cloud& src);
  
    PinholeCameraInfo* msg2pinholeCameraInfo(const PinholeCameraInfoMsg& msg, boss::IdContext* context);
    PinholeCameraInfoMsg pinholeCameraInfo2msg(PinholeCameraInfo* src, boss::IdContext*  context);
  
    
    MultiCameraInfo* msg2multiCameraInfo(const MultiCameraInfoMsg& msg, boss::IdContext* context);
    MultiCameraInfoMsg multiCameraInfo2msg(MultiCameraInfo* src, boss::IdContext*  context);
  
    MapNode* msg2MapNode(const MapNodeMsg& msg, boss::IdContext* context);
    MapNodeMsg mapNode2msg(MapNode* src, boss::IdContext* context);
  
    ImageMapNode* msg2imageMapNode(const ImageMapNodeMsg& msg, boss::IdContext* context);
    ImageMapNodeMsg imageMapNode2msg(ImageMapNode* src, boss::IdContext* context);
  
    MultiImageMapNode* msg2multiImageMapNode(const MultiImageMapNodeMsg& msg, boss::IdContext* context);
    MultiImageMapNodeMsg multiImageMapNode2msg(MultiImageMapNode* src, boss::IdContext* context);
  
    LocalMap* msg2localMap(const LocalMapMsg& msg, boss::IdContext* context);
    LocalMapMsg localMap2msg(LocalMap* src, boss::IdContext* context);
    
    BinaryNodeRelation* msg2binaryNodeRelation(const BinaryNodeRelationMsg& msg, boss::IdContext* context);
    BinaryNodeRelationMsg binaryNodeRelation2msg(BinaryNodeRelation* src, boss::IdContext* context);
    
  }
  