#include <sstream>
#include <limits>
#include <vector>
#include <cmath>
#include <string>
#include <iostream>
#include <fstream>
#include <list>
#include <ros/console.h>
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/image_encodings.h>
#include <image_geometry/pinhole_camera_model.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/ransac.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <Eigen/Core>
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