Opencv Surface Matching - c++

Question

I am studying 3d point cloud and I am using opencv surface matchig module But I have an error I cant understand
My code is :
#include "stdafx.h"
#include <iostream>
#include <vector>
#include "opencv2/core/utility.hpp"
#include "opencv2\opencv_modules.hpp"
#include "opencv2\surface_matching.hpp"
#include "opencv2\surface_matching\ppf_helpers.hpp"
using namespace std;
using namespace cv;
using namespace cv::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 < 2)
{
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 = "C://opencv_contrib-master//modules//surface_matching//samples//data//parasaurolophus_6700";
string sceneFileName = "C://opencv_contrib-master//modules//surface_matching//samples//data//parasaurolophus_low_normals2";
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();
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;
}
And my error :(when code was these line :
detector.trainModel(pc);
int64 tick2 = cv::getTickCount();
I get this error:

Answer 1

Use debug mode. Change Key type at t_hash_int.cpp source file by these lines
#if (defined x86_64 || defined _M_X64)
typedef uint64_t KeyType;
#else
typedef unsigned int KeyType;
#endif
Build again from the source
Check this issue: https://github.com/opencv/opencv_contrib/issues/170

Answer 2

It seems that you use the release mode to run the program.
I have meet this problem before. When I change to debug mode. Everything works well.