Automatic point cloud segmentation

I have a point cloud as in picture. It is made mainly of a plane and some holes that could be identified as cylinder.

There is an easy way to perform the segmentation of the point cloud automatically?

[Image Analyst]

What do you mean by segmentation? You already KNOW all the points that go into making up the point cloud, because you plotted them. What more do you want?

[gaetano mallardo]

Separate it by geometric regions. In this case, separate the flat plane from the cylinders.

I did it with fitcylinder, but It need to set a ROI, i was aking myself if there is a way to make the process automatic