Decomposing objects into their structural components in pcl

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Hey guys,

Do you know any pcl example or source code that does decompose objects into their components by using any kind of a method?

I know that there are SAC based segmentation methods that does primitive shape fitting but I don't think they are able to extract mug handles or other similar sub-components. Well you can get the handle after extracting the cylinder-like mug component, but I need sth that is able cluster other smaller parts also.

I need this just for visualization purposes, it is not required to run online/real time, it is adequate to be able to work on stationary scenes/inputs.

Thanks