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IWR1843BOOST: ROS Point Cloud Visualiser and picking up walls of a room??

Part Number: IWR1843BOOST

Hi,

I have setup the ROS point cloud visualiser in a virtual machine environment using Ubuntu OS. It picks up point clouds of people walking by but I am wanting it to pick up walls of a room or like walls of a hallway? By picking up walls, I mean generating point clouds of a wall to estimate the area of it. 

How am I able to achieve this? 

Cheers,

Lucas.