I have point cloud consisting of sphere and some outliers. If points are near the origin, RANSAC can find sphere, but if points are far from origin (Z about 100 in my case), algorithm find no inliers. What could be the problem? Is there any fix?
pcl::search::KdTree<PointXYZ>::Ptr kdtree (new pcl::search::KdTree<PointXYZ> ());
pcl::NormalEstimation<PointXYZ, pcl::Normal> ne;