This repo is separated from 6d pose repo, because ori repo is too big to deploy.
Briefly speaking, we seg the point cloud by convex criteria (any point's tangent plane is not intersected with cloud), then use super4pcs to find 6d pose. We try ICP also but not help. Seg costs 0.3s, and pcs costs 1s for 1 obj.
Following are our current test result:
to do: real test for bin picking