BinPicking
转换CAD到PointCloudData：
SolidWorks-（stl）-> Blender-（层）-> mesh_to_pointcloud-（pcd）->“ model.pcd”
流程图：
"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 Geom
