Add surface_matching module.

modules/surface_matching/samples/ppf_load_match.cpp

@@ -0,0 +1,149 @@
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+//                          License Agreement
+//                For Open Source Computer Vision Library
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+// Author: Tolga Birdal <tbirdal AT gmail.com>
+
+#include "opencv2/ppf_match_3d.hpp"
+#include <iostream>
+#include "opencv2/icp.hpp"
+#include "opencv2/surface_matching/ppf_helpers.hpp"
+#include "opencv2/core/utility.hpp"
+
+using namespace std;
+using namespace cv;
+using namespace ppf_match_3d;
+
+static void help(std::string errorMessage)
+{
+    std::cout<<"Program init error : "<<errorMessage<<std::endl;
+    std::cout<<"\nUsage : ppf_matching [input model file] [input scene file]"<<std::endl;
+    std::cout<<"\nPlease start again with new parameters"<<std::endl;
+}
+
+int main(int argc, char** argv)
+{
+    // welcome message
+    std::cout<< "****************************************************"<<std::endl;
+    std::cout<< "* Surface Matching demonstration : demonstrates the use of surface matching"
+             " using point pair features."<<std::endl;
+    std::cout<< "* The sample loads a model and a scene, where the model lies in a different"
+             " pose than the training.\n* It then trains the model and searches for it in the"
+             " input scene. The detected poses are further refined by ICP\n* and printed to the "
+             " standard output."<<std::endl;
+    std::cout<< "****************************************************"<<std::endl;
+    
+    if (argc < 3)
+    {
+        help("Not enough input arguments");
+        exit(1);
+    }
+    
+#if (defined __x86_64__ || defined _M_X64)
+    std::cout << "Running on 64 bits" << std::endl;
+#else
+    std::cout << "Running on 32 bits" << std::endl;
+#endif
+    
+#ifdef _OPENMP
+    std::cout << "Running with OpenMP" << std::endl;
+#else
+    std::cout << "Running without OpenMP and without TBB" << std::endl;
+#endif
+    
+    string modelFileName = (string)argv[1];
+    string sceneFileName = (string)argv[2];
+    
+    Mat pc = loadPLYSimple(modelFileName.c_str(), 1);
+    
+    // Now train the model
+    cout << "Training..." << endl;
+    int64 tick1 = cv::getTickCount();
+    ppf_match_3d::PPF3DDetector detector(0.025, 0.05);
+    detector.trainModel(pc);
+    int64 tick2 = cv::getTickCount();
+    cout << endl << "Training complete in "
+         << (double)(tick2-tick1)/ cv::getTickFrequency()
+         << " sec" << endl << "Loading model..." << endl;
+         
+    // Read the scene
+    Mat pcTest = loadPLYSimple(sceneFileName.c_str(), 1);
+    
+    // Match the model to the scene and get the pose
+    cout << endl << "Starting matching..." << endl;
+    vector < Pose3D* > results;
+    tick1 = cv::getTickCount();
+    detector.match(pcTest, results, 1.0/40.0, 0.05);
+    tick2 = cv::getTickCount();
+    cout << endl << "PPF Elapsed Time " <<
+         (tick2-tick1)/cv::getTickFrequency() << " sec" << endl;
+         
+    // Get only first N results
+    int N = 2;
+    vector<Pose3D*>::const_iterator first = results.begin();
+    vector<Pose3D*>::const_iterator last = results.begin() + N;
+    vector<Pose3D*> resultsSub(first, last);
+    
+    // Create an instance of ICP
+    ICP icp(100, 0.005f, 2.5f, 8);
+    int64 t1 = cv::getTickCount();
+    
+    // Register for all selected poses
+    cout << endl << "Performing ICP on " << N << " poses..." << endl;
+    icp.registerModelToScene(pc, pcTest, resultsSub);
+    int64 t2 = cv::getTickCount();
+    
+    cout << endl << "ICP Elapsed Time " <<
+         (t2-t1)/cv::getTickFrequency() << " sec" << endl;
+         
+    cout << "Poses: " << endl;
+    // debug first five poses
+    for (size_t i=0; i<resultsSub.size(); i++)
+    {
+        Pose3D* pose = resultsSub[i];
+        cout << "Pose Result " << i << endl;
+        pose->printPose();
+        if (i==0)
+        {
+            Mat pct = transformPCPose(pc, pose->Pose);
+            writePLY(pct, "para6700PCTrans.ply");
+        }
+    }
+    
+    return 0;
+    
+}