http://binpickingcad.blogspot.pt/
Conversão CAD par PointCloudData:
SolidWorks -(stl)-> Blender -(ply)-> mesh_to_pointcloud -(pcd)-> "model.pcd"
Diagrama de algoritmos para reconhecimento:
"model.pcd" "scene.pcd"
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Compute Normals (NormalEstimationOMP)
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Compute Keypoints (ISSKeypoint3D)
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Compute Descriptor (SHOTEstimationOMP)
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Find Model-Scene Correspondences (KdtreeFLANN)
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Clustering (Houg3DGrouping or GeometricConsistencyGrouping)