ppf_load_match.cpp 5.96 KB
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//
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//
//  By downloading, copying, installing or using the software you agree to this license.
//  If you do not agree to this license, do not download, install,
//  copy or use the software.
//
//
//                          License Agreement
//                For Open Source Computer Vision Library
//
// Copyright (C) 2014, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
//   * Redistribution's of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
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//   * Redistribution's in binary form must reproduce the above copyright notice,
//     this list of conditions and the following disclaimer in the documentation
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//   * The name of the copyright holders may not be used to endorse or promote products
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// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
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// loss of use, data, or profits; or business interruption) however caused
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// Author: Tolga Birdal <tbirdal AT gmail.com>

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#include "opencv2/surface_matching.hpp"
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#include <iostream>
#include "opencv2/surface_matching/ppf_helpers.hpp"
#include "opencv2/core/utility.hpp"

using namespace std;
using namespace cv;
using namespace ppf_match_3d;

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static void help(const string& errorMessage)
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{
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    cout << "Program init error : "<< errorMessage << endl;
    cout << "\nUsage : ppf_matching [input model file] [input scene file]"<< endl;
    cout << "\nPlease start again with new parameters"<< endl;
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}

int main(int argc, char** argv)
{
    // welcome message
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    cout << "****************************************************" << endl;
    cout << "* Surface Matching demonstration : demonstrates the use of surface matching"
             " using point pair features." << endl;
    cout << "* The sample loads a model and a scene, where the model lies in a different"
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             " 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 "
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             " standard output." << endl;
    cout << "****************************************************" << endl;
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    if (argc < 3)
    {
        help("Not enough input arguments");
        exit(1);
    }
    
#if (defined __x86_64__ || defined _M_X64)
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    cout << "Running on 64 bits" << endl;
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#else
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    cout << "Running on 32 bits" << endl;
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#endif
    
#ifdef _OPENMP
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    cout << "Running with OpenMP" << endl;
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#else
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    cout << "Running without OpenMP and without TBB" << endl;
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#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;
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    vector<Pose3DPtr> results;
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    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;
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    //check results size from match call above
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    size_t results_size = results.size();
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    cout << "Number of matching poses: " << results_size;
    if (results_size == 0) {
        cout << endl << "No matching poses found. Exiting." << endl;
        exit(0);
    }

    // Get only first N results - but adjust to results size if num of results are less than that specified by N
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    size_t N = 2;
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    if (results_size < N) {
        cout << endl << "Reducing matching poses to be reported (as specified in code): "
             << N << " to the number of matches found: " << results_size << endl;
        N = results_size;
    }
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    vector<Pose3DPtr> resultsSub(results.begin(),results.begin()+N);
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    // 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++)
    {
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        Pose3DPtr result = resultsSub[i];
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        cout << "Pose Result " << i << endl;
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        result->printPose();
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        if (i==0)
        {
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            Mat pct = transformPCPose(pc, result->pose);
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            writePLY(pct, "para6700PCTrans.ply");
        }
    }
    
    return 0;
    
}