text: #ifndef _PERCEPTION_FEATURE_EXTRACTION_H_
  #define _PERCEPTION_FEATURE_EXTRACTION_H_
  
  #include "perception/object.h"
  #include "perception_msgs/ObjectFeatures.h"
  
  namespace perception {
  void ExtractFeatures(const Object& object,
                       perception_msgs::ObjectFeatures* features);
  
  void ExtractSizeFeatures(const Object& object,
                           perception_msgs::ObjectFeatures* features);
  
  void ExtractColorFeatures(const Object& object,
                            perception_msgs::ObjectFeatures* features);
  }  // namespace perception
  
  #endif  // _PERCEPTION_FEATURE_EXTRACTION_H_
  