finding random shapes

[arielc-brillianetor]

Hi, is there any way to load a point cloud file, and find the different shapes hiding in it without prior knowledge? If I don't know what the shape is ahead of time, is there any way to use the algorithm? Thanks a lot for you help!

[kwigulaker]

Perhaps clone the project locally, merge together the different shapes so each iteration of RANSAC fits a both plane, cube, etc.. to the pointcloud, then each time save the shape with highest amount of inliers. Then remove the inliers from the set post each RANSAC run.