Surface Match: fast and robust point pair feature

highlights:

• score based multi-instance
• OpenMP & SIMD based concurrency
• build kdtree only once
• pose refined with icp
• support model save/load

usage:

#include<ppf.h>intmain(int argc, char *argv[]) {
ppf::PointCloud model;
ppf::readPLY(argv[ 1 ], model);
ppf::PointCloud scene;
ppf::readPLY(argv[ 2 ], scene);
scene.viewPoint = {620, 100, 500};
{
ppf::Detector detector;
detector.trainModel(model, 0.04f);
detector.save("1.model");
}
{
std::vector<Eigen::Matrix4f> pose;
std::vector<float> score;
ppf::Detector detector;
detector.load("1.model");
detector.matchScene(scene, pose, score, 0.04f, 0.1f, 0.2f);
for (int i = 0; i < pose.size(); i++) {
std::cout << pose[ i ] << std::endl;
std::cout << score[ i ] << std::endl;
}
}
return0;
}

sample:

download gears model (convert to ply first) and gears scene