#include <iostream>#include <map>#include <set>#include <cmath>#include <Eigen/Geometry>#include <pcl/pcl_macros.h>#include <pcl/common/common_headers.h>#include <pcl/range_image/range_image.h>#include <pcl/point_cloud.h>#include <pcl/common/vector_average.h>#include <pcl/features/range_image_border_extractor.h>
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