Problem with matching a 3D complete model of an object with a scene of the object

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Problem with matching a 3D complete model of an object with a scene of the object

Lorenzo
I am trying to match a complete 3D model of a box with some scene of the box itself.
My algorithm is based on the Hypotesis verification tutorial found on PCL website.
Anyway the algorithm is not able to match the box. Or it finds wrong instances or it doesn't find them at all.
Can you help me please?

box.ply
1.ply
5.ply

Thanks in advance.