text: #include <ros/ros.h>
  #include <sensor_msgs/Image.h>
  #include <sensor_msgs/image_encodings.h>
  #include <cv_bridge/cv_bridge.h>
  #include <opencv2/opencv.hpp>
  #include <pcl/point_cloud.h>
  #include <pcl/conversions.h>
  #include <pcl_conversions/pcl_conversions.h>
  #include <sensor_msgs/PointCloud2.h>
  #include <rr_platform/transform_image.h>
  
  ros::Publisher img_pub;
  cv::Mat mask;
  
  std::vector<cv::Scalar> lows;
  std::vector<cv::Scalar> highs;
  
  cv::Mat detectObstacleColor(const cv::Mat& image, const cv::Scalar &low, const cv::Scalar &high);
  void ImageRectCB(const sensor_msgs::ImageConstPtr& msg);
  
  std::string image_topic;
  std::string pub_topic;
  int image_width;
  int image_height;
  int mask_px_top;
  int mask_px_bottom;
  int blur_strength;
  