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/)
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