This ROS package enables you to crop the scene from Kinect (input topic type: pcl pointcloud). You can even enable fitting a plane to remove the ground from the scene and by adjusting correct parameter you can get the desired object from the scene.
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README.md

README.md

cropping_pointcloud

This ROS package enables you to crop the scene from Kinect (input topic type: pcl pointcloud). You can even enable fitting a plane to remove the ground from the scene and by adjusting correct parameter you can get the desired object from the scene.

GUI in dynamic reconfigure White dots are original scene and rgb dots are from the cropped cloud. Values for the volume of cuboid are coming from sliders.