A simple C++ implementation of the Point-pair feature method proposed by Drost et al. [1]
The function ReadPLY needs modification according to your data.
DEMO: model_dinosaur.txt scene_dinosaur.txt.
[1] Drost, Bertram, et al. "Model globally, match locally: Efficient and robust 3D object recognition." Computer Vision and Pattern Recognition (CVPR), 2010 IEEE Conference on. IEEE, 2010.