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I am not an expert in 3D segmentation, so if somebody is then please correct me if I am wrong, but I believe that the problem of segmenting an object point cloud into different parts is still an open research question. I don't think there is anything built in to PCL which can perform this.

Some people are working on this problem (using radial reflection or bounding volume hierarchies for example), but I don't see any released code.

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