A simple and efficient 3D line detection algorithm for large scale unorganized point cloud. A conference paper based on this code can be found here https://arxiv.org/abs/1901.02532
On a computer with Intel Core i5-3550p CPU, the computing time for point clouds with 30M, 20M, 10M, 5M, 2M and 1M points is 130s, 80s, 40s, 20s, 8s and 4s, respectively.
Feel free to correct my code, if you spotted the mistakes. You are also welcomed to Email me: fangzelu@gmail.com
Please cite the following paper if this you feel this code helpful.
@article{lu2019fast,
title={Fast 3D Line Segment Detection From Unorganized Point Cloud},
author={Xiaohu, Lu and Yahui, Liu and Kai, Li},
journal={arXiv preprint arXiv:1901.02532},
year={2019},
}