3D template matching by opencv

What you need is the Point Cloud Library, which is an open source library to work with 3D data. I can tell you from my experience, that learning to use this library is very similar to learning OpenCV because many developers work for Willow Garage, the main sponsor of OpenCV.

If you go to the PCL tutorials you will find three useful sections to solve your problem:

1) finding features in your 3D point cloud, that you can later use for matching

2) 3D object recognition based on correspondence grouping

3) Point cloud registration using methods like iterative closest point, and feature matching

No, OpenCV doesn't have anything for this.