Table of contents
1. Algorithm principle
In the building point cloud, there are obvious differences between the normal vectors of the facade points and the plane points, and the segmentation of the facade points and the plane points can be realized by setting the corresponding threshold according to the component of the normal vector in the Z direction.
2. Code implementation
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree_flann.h>