7. Second Phase: Plane Identification
→ Identify the plane using SAC Segmentation function of the PCL library, by setting the model type as a plane with 200 iterations and the distance between the points be 0.005 to consider them as a cluster. This function learns the mathematical coefficients (ax +by + cz +d ) of the plane using the SAC segmentation algorithm.
This is implemented under the function named "plane_segmentation" of the script detect_objects.cpp
From the figure above we can clearly see the efficiency of the algorithm in detecting the plane. This plane is removed from the whole point cloud.
