Algorithm 1 The pseudo-code of initial segmentation

Input: the normal of each point $\mathit{N}$,   the normals of orientation planes $Plane$,   the number of orientation planes numPlanes,   the number of points numPoints Output: initial clusters $partition$   For $i=0$ to numPoints-1 do   bestScore = 0     For $j=0$ to numPlanes-1 do       scoreNormal = $N[i]·Plane[j]$       If scoreNormal > bestScore do         bestScore = scoreNormal         clusterIndex = j       End If     End For     $partition[i]=clusterIndex$   End For