Most (all?) SLAM approaches are naive and produce point clouds. True geometry approach would result in purely 3d vector output. Kinect, Tango, Hololens all fail at recognizing flat surfaces and straight lines.
There exist research SLAM systems that use lines, planes[1] and other geometric objects as features, and thus provide non-point geometric reconstructions. Hell, there's even a demo using entire pieces of office furniture as the localization features [2].
