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I'd take a look at wg-perception, if you haven't, they've done quite a lot of tools for different types of people's recognition. Maybe you can get some ideas from there.

Pointing out, PCL is not a ROS package, but

the preferred bridge for 3D applications involving n-D Point Clouds and 3D geometry processing in ROS.

so maybe your question is not even ROS related. I'd try to ask this question in PCL Answers or Google it without ROS tag:)

Just found something.