It is well known that (additive) subgroups of $\mathbb{R}^n$ are products of discrete subgroups (lattices) by dense subgroups in subspaces. My question is the following: given a generator set of $p$ vectors (obviously $p>n$), can one tell (i) whether there will be dense factors, if so (ii) what their dimensions will be (i.e. the dimension of the subspace it is dense in) and (iii) give a basis of these subsets in terms of the generator set. This answer is probably more algorithmic than explicit, but I am looking at specific examples in $\mathbb{R}^3$ (where the generators are two orthonormal frames), so hopefully one might say something conclusive there.
To clarify what I mean by an algorithm (thanks @Ycor), let me quote the (trivial) example of $n=1$, $p=2$. My "algorithm" would go as follows: are the two generators commensurable? If not, the subgroup is dense. Similarly, if all vectors in the generator set have rationals coordinates, then I know that the subgroup is a lattice. I do not wish for a computer automated procedure (otherwise, one would go into the problems of representing numbers, etc. which is not my goal). I want either a direct criterion, or a deciding procedure, in other words an algorithm.
Any reference will be welcome.