#include <ros/ros.h>
#include <dynamic_reconfigure/server.h>
#include <asr_descriptor_surface_based_recognition/DescriptorSurfaceBasedRecognitionConfig.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <visualization_msgs/MarkerArray.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <Eigen/Dense>
#include <asr_msgs/AsrObject.h>
#include <asr_object_database/ObjectMetaData.h>
#include <asr_object_database/RecognizerListMeshes.h>
#include <asr_descriptor_surface_based_recognition/GetRecognizer.h>
#include <asr_descriptor_surface_based_recognition/ReleaseRecognizer.h>
#include <asr_descriptor_surface_based_recognition/GetObjectList.h>
#include <asr_descriptor_surface_based_recognition/ClearAllRecognizers.h>
#include "threadpool/threadpool.hpp"
#include "pose_validation.h"
#include "object_descriptor.h"
#include "pose_recognition.h"
#include "object_2D_positions.h"
#include "util.h"
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