Region Growing

https://github.com/davidcaron/pclpy/blob/master/pclpy/tests/test_segmentation.py

def test_region_growing():
    pc = pclpy.read(test_data("street_thinned.las"), "PointXYZRGBA")
    rg = pcl.segmentation.RegionGrowing.PointXYZRGBA_Normal()
    rg.setInputCloud(pc)
    normals_estimation = pcl.features.NormalEstimationOMP.PointXYZRGBA_Normal()
    normals_estimation.setInputCloud(pc)
    normals = pcl.PointCloud.Normal()
    normals_estimation.setRadiusSearch(0.35)
    normals_estimation.compute(normals)
    rg.setInputNormals(normals)

    rg.setMaxClusterSize(1000000)
    rg.setMinClusterSize(10)
    rg.setNumberOfNeighbours(15)
    rg.setSmoothnessThreshold(5 / 180 * math.pi)
    rg.setCurvatureThreshold(5)
    rg.setResidualThreshold(1)
    clusters = pcl.vectors.PointIndices()
    rg.extract(clusters)
    assert max([len(c.indices) for c in clusters]) == 2449  # ground