Overview
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Input
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* Segment result: segmentation result vector, either from segmentation node or DL segmentation node
* Scene cloud: scene point cloud to be cropped

Output
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* segmentClouds: a vector of point cloud, representing the cropped point cloud for each segment
* segmentPoses: poses of each point cloud, if the scene cloud has normals (from cloud process node), this pose will represent the surface normal of the segment

Parameters
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* Use Surface Centroid: whether to compute the centroid of the segmented point cloud when computing segmentPoses