Matching CAD model with the point cloud model

As the title explains, I would like to know if it is possible to match the CAD model of the object with the point cloud of the model. I would like to match them first and then define a grasping point so that the 2F gripper can grasp the object accordingly.

Thank you for helping and please feel free to ask if there are any questions.

[darova]

Do you have picture?

[Kausthub Narayan]

I do! May I have your email ID please? The file exceeds 5MB and I am not able to attach it here. Thank you

[darova]

Can you attach the picture/screenshot? I just want to know if it's possible to use griddata

Can you check only part of your model?

[Kausthub Narayan]

Yes I can. I am uploading the CAD model and CAD model converted point cloud screenshot now. I will upload the point cloud from the scene tomorrow.

[Kausthub Narayan]

[darova]

Maybe alphaShape?