RANSAC algorithm for RealSense D435i Steps followed in this script Download and unzip the RansacShapeAligner folder Open /RansacShapeAligner folder. Open the main.cpp file and modify the desired parameters. Open the CMakeLists.txt file and compile it. Open /out/build/x64-Debug folder Open PowerShell window in that folder. Find a relevant point cloud of a cylinder that you want to analyse. Write ./main.exe -f PathToYourPointCloud The results can be found in the file NameOfYourPointCloud-cylinders.txt Settings and parameters threshold resolution required point for a primitive