How to segment an 'Not-That-Flat' surface?

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How to segment an 'Not-That-Flat' surface?

Hi, All:

I'm trying to segment a surface which is consist of powder. So as the title
said, you can not expect the surface to be flat. I'm thinking of using
RANSAC to segment this surface. Since I'm relatively new to the PCL library,
I'm not sure whether RANSAC will be robust, or is there any better functions
in PCL that can solve this problem?

PS: Actually, what I want to do is to segment the powder surface and
identify the object that sits on top of it.

Many thanks for your time!

Bosch Tang

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