best_settings.txt

pcl::search::Search<pcl::PointXYZ>::Ptr tree = boost::shared_ptr<pcl::search::Search<pcl::PointXYZ> > (new pcl::search::KdTree<pcl::PointXYZ>);
    pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
    pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normal_estimator;
    normal_estimator.setSearchMethod (tree);
    normal_estimator.setInputCloud (filtered_cloud);
    normal_estimator.setKSearch (70);
    normal_estimator.compute (*normals);

    // Region growing
    pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> reg;

    //Maximum and minimum number of points to classify as a cluster
    reg.setMinClusterSize(120);
    reg.setMaxClusterSize(1000000);
    reg.setSearchMethod(tree);

    // Number of neighbors to search -- Higher value tends to be better
    reg.setNumberOfNeighbours(40);
    reg.setInputCloud(filtered_cloud);
    reg.setInputNormals(normals);
    reg.setSmoothnessThreshold(5.0 / 180.0 * M_PI);
    reg.setCurvatureThreshold(.17);