#include <jsk_topic_tools/connection_based_nodelet.h>
#include <jsk_recognition_msgs/HeightmapConfig.h>
#include <jsk_pcl_ros/HeightmapTimeAccumulationConfig.h>
#include <dynamic_reconfigure/server.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <opencv2/opencv.hpp>
#include "jsk_recognition_utils/pcl_conversion_util.h"
#include <tf/transform_listener.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include "jsk_pcl_ros/heightmap_utils.h"
#include <std_srvs/Empty.h>
#include <boost/accumulators/accumulators.hpp>
#include <boost/accumulators/statistics/mean.hpp>
#include <boost/accumulators/statistics/variance.hpp>
#include <boost/accumulators/statistics/count.hpp>
#include <boost/accumulators/statistics/stats.hpp>
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