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Is there any method in MRPT which can help to segment point cloud into clusters or some individual objects?
I already know the kmeans() method and I am wondering there is any other methods.
That's a complex topic. I would recommend taking a look at PCL (http://www.pointclouds.org/) which has many segmentation tools. MRPT provides conversion methods between CPointsMap and PCL point clouds so one can use both libs easily. For very large point clouds the conversion is not the most efficient thing in the world, but just haven't found any better alternative yet.