Surface Matching never get any results with any data, why? - c++

Question

Im trying to get working the Surface Matching Sample code from surface_matching. Im able to compile the code then when run with ./surface_matching /home/surface_matching/coke.ply /home/surface_matching/01.ply
Im running the same code sample as in the link. Code is the followving
#include "opencv2/surface_matching.hpp"
#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;
static void help(const string& errorMessage)
{
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
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(0.025, 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<Pose3DPtr> results;
tick1 = cv::getTickCount();
// orig detector.match(pcTest, results, 1.0/40.0, 0.05);
detector.match(pcTest, results, 1.0/40.0, 0.05);
tick2 = cv::getTickCount();
cout << endl << "PPF Elapsed Time " <<
(tick2-tick1)/cv::getTickFrequency() << " sec" << endl;
// Get only first N results
int N = 2;
vector<Pose3DPtr> resultsSub(results.begin(),results.begin()+N);
// 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++)
{
Pose3DPtr result = resultsSub[i];
cout << "Pose Result " << i << endl;
result->printPose();
if (i==0)
{
Mat pct = transformPCPose(pc, result->pose);
writePLY(pct, "para6700PCTrans.ply");
}
}
return 0;
}
It runs but never gets any results. I got this error
$ ./surface_matching /home/admini/surface_matching/coke.ply /home/admini/surface_matching/01.ply
****************************************************
* Surface Matching demonstration : demonstrates the use of surface matching using point pair features.
* The sample loads a model and a scene, where the model lies in a different pose than the training.
* It then trains the model and searches for it in the input scene. The detected poses are further refined by ICP
* and printed to the standard output.
****************************************************
Running on 64 bits
Running without OpenMP and without TBB
Training...
Training complete in 0.100169 sec
Loading model...
Starting matching...
Segmentation fault (core dumped)
Training is complete and starts matching but then Segmentation fault. What can be the problem? Here the object model file:
And the scene file
What can be the problem?