Cockroach_ClusterEuclideanKSearch

This command allows to cluster/seperate a cloud based on its spatial proximity. It will create a series of clouds that are spatially close to each other. The command will output a group of clouds.

The main algorithm is based on the Connected Component Extractor with a distance proximity evaluator from the function in cilantro::ConnectedComponentExtraction3f().

Command options:

NeighboursToSearch=30

The search for establishing which parts of the cloud can be considered as spatially close is based on the KNNsearch algorithm. This value is the number of neighbours for each point to evaluate. The bigger the value, the more accurate the algorithm will be but the slower it will be.

DistanceThreshold=0.02

This is the maximum distance between two points to be considered as spatially close.

MinClusterSize=30

The minimum number of points that a cluster should have to be considered as a cluster. The smaller the value, the more clusters will be detected.

ColorPointCloud=True

Decide with True/False whether to color the output group of clusters with random colors of keep the original colors.