201 lines
8.0 KiB
C
201 lines
8.0 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*/
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#pragma once
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#include <pcl/keypoints/keypoint.h>
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#include <pcl/common/intensity.h>
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namespace pcl
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{
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/** \brief SUSANKeypoint implements a RGB-D extension of the SUSAN detector including normal
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* directions variation in top of intensity variation.
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* It is different from Harris in that it exploits normals directly so it is faster.
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* Original paper "SUSAN — A New Approach to Low Level Image Processing", Smith,
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* Stephen M. and Brady, J. Michael
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*
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* \author Nizar Sallem
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* \ingroup keypoints
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*/
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template <typename PointInT, typename PointOutT, typename NormalT = pcl::Normal, typename IntensityT= pcl::common::IntensityFieldAccessor<PointInT> >
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class SUSANKeypoint : public Keypoint<PointInT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<SUSANKeypoint<PointInT, PointOutT, NormalT, IntensityT> >;
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using ConstPtr = shared_ptr<const SUSANKeypoint<PointInT, PointOutT, NormalT, Intensity> >;
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using PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn;
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using PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut;
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using KdTree = typename Keypoint<PointInT, PointOutT>::KdTree;
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using PointCloudInConstPtr = typename PointCloudIn::ConstPtr;
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using PointCloudN = pcl::PointCloud<NormalT>;
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using PointCloudNPtr = typename PointCloudN::Ptr;
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using PointCloudNConstPtr = typename PointCloudN::ConstPtr;
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using Keypoint<PointInT, PointOutT>::name_;
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using Keypoint<PointInT, PointOutT>::input_;
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using Keypoint<PointInT, PointOutT>::indices_;
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using Keypoint<PointInT, PointOutT>::surface_;
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using Keypoint<PointInT, PointOutT>::tree_;
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using Keypoint<PointInT, PointOutT>::k_;
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using Keypoint<PointInT, PointOutT>::search_radius_;
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using Keypoint<PointInT, PointOutT>::search_parameter_;
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using Keypoint<PointInT, PointOutT>::keypoints_indices_;
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using Keypoint<PointInT, PointOutT>::initCompute;
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/** \brief Constructor
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* \param[in] radius the radius for normal estimation as well as for non maxima suppression
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* \param[in] distance_threshold to test if the nucleus is far enough from the centroid
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* \param[in] angular_threshold to test if normals are parallel
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* \param[in] intensity_threshold to test if points are of same color
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*/
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SUSANKeypoint (float radius = 0.01f,
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float distance_threshold = 0.001f,
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float angular_threshold = 0.0001f,
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float intensity_threshold = 7.0f)
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: distance_threshold_ (distance_threshold)
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, angular_threshold_ (angular_threshold)
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, intensity_threshold_ (intensity_threshold)
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, normals_ (new pcl::PointCloud<NormalT>)
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, threads_ (0)
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, label_idx_ (-1)
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{
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name_ = "SUSANKeypoint";
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search_radius_ = radius;
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geometric_validation_ = false;
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tolerance_ = 2 * distance_threshold_;
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}
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/** \brief Empty destructor */
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~SUSANKeypoint () {}
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/** \brief set the radius for normal estimation and non maxima supression.
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* \param[in] radius
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*/
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void
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setRadius (float radius);
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void
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setDistanceThreshold (float distance_threshold);
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/** \brief set the angular_threshold value for detecting corners. Normals are considered as
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* parallel if 1 - angular_threshold <= (Ni.Nj) <= 1
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* \param[in] angular_threshold
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*/
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void
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setAngularThreshold (float angular_threshold);
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/** \brief set the intensity_threshold value for detecting corners.
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* \param[in] intensity_threshold
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*/
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void
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setIntensityThreshold (float intensity_threshold);
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/**
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* \brief set normals if precalculated normals are available.
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* \param normals
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*/
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void
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setNormals (const PointCloudNConstPtr &normals);
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void
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setSearchSurface (const PointCloudInConstPtr &cloud) override;
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/** \brief Initialize the scheduler and set the number of threads to use.
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* \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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*/
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void
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setNumberOfThreads (unsigned int nr_threads);
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/** \brief Apply non maxima suppression to the responses to keep strongest corners.
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* \note in SUSAN points with less response or stronger corners
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*/
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void
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setNonMaxSupression (bool nonmax);
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/** \brief Filetr false positive using geometric criteria.
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* The nucleus and the centroid should at least distance_threshold_ from each other AND all the
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* points belonging to the USAN must be within the segment [nucleus centroid].
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* \param[in] validate
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*/
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void
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setGeometricValidation (bool validate);
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protected:
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bool
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initCompute () override;
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void
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detectKeypoints (PointCloudOut &output) override;
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/** \brief return true if a point lies within the line between the nucleus and the centroid
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* \param[in] nucleus coordinate of the nucleus
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* \param[in] centroid of the SUSAN
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* \param[in] nc to centroid vector (used to speed up since it is constant for a given
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* neighborhood)
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* \param[in] point the query point to test against
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* \return true if the point lies within [nucleus centroid]
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*/
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bool
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isWithinNucleusCentroid (const Eigen::Vector3f& nucleus,
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const Eigen::Vector3f& centroid,
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const Eigen::Vector3f& nc,
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const PointInT& point) const;
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private:
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float distance_threshold_;
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float angular_threshold_;
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float intensity_threshold_;
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float tolerance_;
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PointCloudNConstPtr normals_;
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unsigned int threads_;
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bool geometric_validation_;
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bool nonmax_;
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/// intensity field accessor
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IntensityT intensity_;
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/** \brief Set to a value different than -1 if the output cloud has a "label" field and we have
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* to save the keypoints indices.
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*/
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int label_idx_;
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/** \brief The list of fields present in the output point cloud data. */
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std::vector<pcl::PCLPointField> out_fields_;
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pcl::common::IntensityFieldAccessor<PointOutT> intensity_out_;
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};
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}
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#include <pcl/keypoints/impl/susan.hpp>
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