Compile
Create a build folder, and run cmake and make in that folder
mkdir build
cd build
cmake ..
make
Run
Run the detect_plane executable in the build folder. There are several arguments; the first is the path to the input pointcloud. For the remaining arguments, look in the main function in plane_detection.cpp.
./detect_plane <path to .pcd file> 0 1.0 -0.5 0.5 0.01 0.02 50 5000
Example pointcloud
Example pointclouds can be found here