#include <ros/ros.h>#include <opencv2/opencv.hpp>#include <opencv2/features2d/features2d.hpp>#include <opencv/highgui.h>#include <highgui.h>#include <ctype.h>#include <stdio.h>#include <stdlib.h>#include <iostream>#include <vector>#include <image_transport/image_transport.h>#include "cv_bridge/CvBridge.h"#include <time.h>#include <std_msgs/String.h>#include <sensor_msgs/Image.h>#include <sstream>#include <cmath>#include <Eigen/Dense>#include <Eigen/SVD>#include <cv.h>#include <cv_bridge/cv_bridge.h>#include <boost/function.hpp>#include <boost/bind.hpp>#include <pcl/pcl_base.h>#include "pcl_ros/io/bag_io.h"#include "pcl/point_types.h"#include "pcl/io/pcd_io.h"#include "pcl_ros/point_cloud.h"#include <pcl/features/normal_3d.h>#include "pcl/kdtree/kdtree.h"#include "pcl/kdtree/kdtree_flann.h"#include "pcl/registration/transforms.h"#include "pcl/win32_macros.h"#include <pcl/registration/transformation_estimation.h>#include "pcl/segmentation/segment_differences.h"#include "pcl/io/io.h"#include "pcl/common/transform.h"#include "pcl/registration/icp.h"#include "pcl/registration/icp_nl.h"#include <tf/transform_broadcaster.h>#include <nav_msgs/Odometry.h>
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