filters.approximatecoplanar filter estimates the planarity of a neighborhood of points by first computing eigenvalues for the points and then tagging those points for which the following is true:

\[\lambda_1 > (thresh_1 * \lambda_0) \&\& (\lambda_1 * thresh_2) > \lambda_2\]

where \(\lambda_0\), \(\lambda_1\), \(\lambda_2\) are the eigenvalues in ascending order. The threshold values \(thresh_1\) and \(thresh_2\) are user-defined and default to 25 and 6 respectively.

The filter returns a point cloud with a new dimension Coplanar that indicates those points that are part of a neighborhood that is approximately coplanar (1) or not (0).

Eigenvalue estimation is performed using Eigen’s SelfAdjointEigenSolver. For more information see


The sample pipeline presented below estimates the planarity of a point based on its eight nearest neighbors using the filters.approximatecoplanar filter. A filters.range stage then filters out any points that were not deemed to be coplanar before writing the result in compressed LAZ.



The number of k-nearest neighbors. [Default: 8]
The threshold to be applied to the smallest eigenvalue. [Default: 25]
The threshold to be applied to the second smallest eigenvalue. [Default: 6]