#include <ros/ros.h>
#include <pcl/point_types.h>
#include <pcl_ros/pcl_nodelet.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include "jsk_recognition_utils/pcl_conversion_util.h"
#include "jsk_recognition_utils/geo_util.h"
#include <geometry_msgs/PolygonStamped.h>
#include <jsk_recognition_msgs/PolygonArray.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_pcl_ros/HintedPlaneDetectorConfig.h>
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