A fast implementation of the CAPE algorithm for extracting planes only. This is based upon the paper: "Fast Cylinder and Plane Extraction from Depth Cameras for Visual Odometry" (2018) by Pedro F. Proença and Yang Gao. https://arxiv.org/pdf/1803.02380v3.pdf
The authors own implementation can be found at:https://github.com/pedropro/CAPE
Remember to provide your own data, you could get the data from the authors own github.