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I think that you have already resolved your problem. If not could you give the point cloud? so I can try too.
I am using LCCP too for objects segmentation and works quite good, and I guess that your point cloud should be quite easy to segment by the LCCP and it is strange for me that you got such result.
As you can see this is highly over-segmented and playing around with the
parameters usually leads to a strong under segmentation. My point cloud does
not contain any color-information nor normals. They are estimated using
pcl::NormalEstimator or I yield this to the LCCP class.
I have no clue why this is not working in such a simple seen.
@Nicola or other folks around: Do you have any hints what I am doing wrong?