Update docu sample source

modules/surface_matching/doc/surface_matching/src/ppf_load_match.cpp

@@ -38,9 +38,8 @@
 //
 // Author: Tolga Birdal <tbirdal AT gmail.com>
 
-#include "opencv2/ppf_match_3d.hpp"
+#include "opencv2/surface_matching.hpp"
 #include <iostream>
-#include "opencv2/icp.hpp"
 #include "opencv2/surface_matching/ppf_helpers.hpp"
 #include "opencv2/core/utility.hpp"
 
@@ -48,83 +47,100 @@ using namespace std;
 using namespace cv;
 using namespace ppf_match_3d;
 
-static void help(std::string errorMessage)
+static void help(const 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;
+    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;
 }
 
 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. It then "<<std::endl;
-    std::cout<< "****************************************************"<<std::endl;
-
+    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"
+             " 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." << endl;
+    cout << "****************************************************" << endl;
+    
     if (argc < 3)
     {
         help("Not enough input arguments");
         exit(1);
     }
-
+    
+#if (defined __x86_64__ || defined _M_X64)
+    cout << "Running on 64 bits" << endl;
+#else
+    cout << "Running on 32 bits" << endl;
+#endif
+    
+#ifdef _OPENMP
+    cout << "Running with OpenMP" << endl;
+#else
+    cout << "Running without OpenMP and without TBB" << 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(0.03, 0.05);
+    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()
-         << " ms" << endl << "Loading model..." << endl;
-
+         << " 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;
+    vector<Pose3DPtr> results;
     tick1 = cv::getTickCount();
-    detector.match(pcTest, results, 1.0/10.0, 0.05);
+    detector.match(pcTest, results, 1.0/40.0, 0.05);
     tick2 = cv::getTickCount();
     cout << endl << "PPF Elapsed Time " <<
-            (tick2-tick1)/cv::getTickFrequency() << " ms" << endl;
-
+         (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);
-
+    vector<Pose3DPtr> resultsSub(results.begin(),results.begin()+N);
+    
     // Create an instance of ICP
-    ICP icp(200, 0.001f, 2.5f, 8);
+    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;
-
+         (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];
+        Pose3DPtr result = resultsSub[i];
         cout << "Pose Result " << i << endl;
-        pose->printPose();
+        result->printPose();
+        if (i==0)
+        {
+            Mat pct = transformPCPose(pc, result->pose);
+            writePLY(pct, "para6700PCTrans.ply");
+        }
     }
-
+    
     return 0;
+    
 }
-