This is package uses a traditional pattern for object recognition: extract features, obtain Bag-of-Words representation and classify the features using libSVM. The pipeline is shown below, from Marcel Tella Amo.
The features used in this packages are: SIFT for grayscale image, FPFH for point cloud and HoG for structure information. This combination can provide a reasonable good classification results for simple objects.
You can learn how to using SIFT and HoG extractor in OpenCV, FPFH descriptor in Point Cloud Library in this package. You can also know how to use libSVM from C API.