Corners.h

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#include <cstdlib>
#include <cstdio>
#include <iostream>
#include <map>
#include <fstream>
#include <cmath>

#include "opencv2/opencv.hpp"
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>


#include <pcl_ros/point_cloud.h>
#include <boost/foreach.hpp>
#include <pcl_conversions/pcl_conversions.h>

#include <linux/version.h>
#if LINUX_VERSION_CODE < KERNEL_VERSION(5,4,0)
#include <velodyne_pointcloud/point_types.h>
#else
#include <velodyne_pcl/point_types.h>
#endif

#include <pcl/common/eigen.h>
#include <pcl/common/transforms.h>
#include <pcl/filters/passthrough.h>
#include <pcl/sample_consensus/ransac.h>
#include <pcl/sample_consensus/sac_model_line.h>
#include <pcl/common/intersections.h>



bool getCorners(cv::Mat img, pcl::PointCloud<pcl::PointXYZ> scan, cv::Mat P, int num_of_markers, int MAX_ITERS);