threecrate_algorithms::segmentation

Function segment_plane_parallel

Source 
pub fn segment_plane_parallel(
    cloud: &PointCloud<Point3f>,
    threshold: f32,
    max_iters: usize,
) -> Result<PlaneSegmentationResult>
Expand description

Parallel RANSAC plane segmentation for better performance on large point clouds

This version uses parallel processing to speed up the RANSAC algorithm by running multiple iterations in parallel.

§Arguments

  • cloud - Input point cloud
  • threshold - Maximum distance for a point to be considered an inlier
  • max_iters - Maximum number of RANSAC iterations

§Returns

  • Result<PlaneSegmentationResult> - The best plane model and inlier indices