Do you want to make a 3D model of a room with a camera? Blender (video game software can help with that?
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You have eyes - look through the door.Can you see walls and a ceiling? Then it's a room!
I would have NO idea how to sense room - Perhaps some kind of capacitive spatial volume sensor?Maybe by testing the echo.:-) Your question is vague in the extreme!.
You can make a buy a PIR sensor that can detect humans. Or do you want to sense the presence of rooms ?. A