codes from the Point Cloud Library module apps's 3d_rec_framework
Mian dataset: https://sourceforge.net/projects/pointclouds/files/PCD%20datasets/mian/
command line:
./pcl_local_or_mian -mians_scenes_dir /path/to/Data/Mian/scenes/ -models_dir /path/to/Data/Mian/models
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---------------------------------------------------------------"/" symbol is needed, a little bug here.