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there are 2 3d models involved here: the 1st (the "yml" one) is used to find the 3d pose of a known, textured 3d object (a simple box in this case), the 2nd model (the "ply" one) is indeed an abitrary one (your free choice !), which is shown in the pose of the detected, 1st model.
note, that the sample is slightly cheating here, using precomputed descriptors for the box. if you want to use your own, you probably have to precompute those for your "detection object".
