#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <std_srvs/Empty.h>
#include <image_geometry/pinhole_camera_model.h>
#include <image_transport/image_transport.h>
#include "jsk_pcl_ros/tf_listener_singleton.h"
#include <boost/circular_buffer.hpp>
#include <Eigen/Geometry>
#include <geometry_msgs/PolygonStamped.h>
#include <jsk_recognition_msgs/PosedCameraInfo.h>
#include <pcl_ros/transforms.h>
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