Hey! You could decompose the point cloud data into primitive shapes using PCL. Check out these links related to PCL if it may be of any help. 1) [RANSAC](http://pointclouds.org/documentation/tutorials/random_sample_consensus.php) 2) [Detecting Planes from Point clouds](http://pointclouds.org/documentation/tutorials/planar_segmentation.php) 3) [Detecting spheres from point clouds](https://answers.ros.org/question/229784/detecting-spheres-using-ransac-in-pcl/) --- [Visit Topic](https://discourse.ros.org/t/how-to-identify-3d-shapes-rectangle-circle-and-square-using-ros-laser-scan-data/4790/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: