Finding an Item in a Point Cloud

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Hello All,

I'm wondering if there is a implementation in ROS that would allow me to find a Object in a point cloud based off of some kind of comparison, preferably either to a Mesh object or a smaller point cloud representing the object that I'm looking for.

I've search online and it appears that there may already be an implementation, but I Can't find anything specifically documenting where it is or what it's called.