DNC/Cvb++/CppDncConsole

This example program is located in your CVB installation under %CVB%Tutorial/DNC/Cvb++/CppDncConsole.

main.cpp:

// The CppDncConsole example shows how to use DNC functionality. The console output gives information
// about the required steps how to **find a pattern in a dense point cloud**.
// ---------------------------------------------------------------------------
// ---------------------------------------------------------------------------
 
#include <iostream>
 
#include <cvb/point_cloud_factory.hpp>
#include <cvb/point_cloud.hpp>
#include <cvb/dense_point_cloud.hpp>
#include <cvb/dnc/finder.hpp>
 
int main(int /*argc*/, char* /*argv*/[])
{
  try
  {
    const auto path = Cvb::InstallPath();
 
    // Load DNC search pattern
    std::cout << "Load the search pattern...\n";
    auto finder = Cvb::Dnc::Finder::Load(path + CVB_LIT("tutorial/DNC/Images/Genie/GenieTest.dnc"));
 
    // Create a dense point cloud
    std::cout << "Create a dense point cloud...\n";
    auto densePointCloud = Cvb::PointCloudFactory::Load<Cvb::DensePointCloud>(path + CVB_LIT("tutorial/DNC/Images/Genie/GenieTest.tif"), 
      Cvb::PointCloudFlags::Float | Cvb::PointCloudFlags::XYZ);
 
    // Define the search parameteres
    std::cout << "Define the search parameters...\n";
    Cvb::Dnc::SearchParameters params;
    params.SetHypothesesThreshold(0.7);
    params.SetDerivativePatchSize(3);
    params.SetIndifferentRadius(1.0);
    params.SetPartsToFind(0); // find all objects
    params.SetRawResultsOnly(false);
    params.SetICPShrink(4);
    params.SetICPMaxIterations(10);
    params.SetPrecisionThreshold(2.0);
    params.SetMinCoverage(0.70);
    params.SetMaxOcclusion(0.20);
    params.SetMaxInconsistency(0.20);
    params.SetMinScore(0.70);
 
    // Start the search
    std::cout << "Run the search on the point cloud...\n";
    auto searchResult = finder->Find(*densePointCloud, params);
 
    // Output of the search result
    std::cout << "Number of search results: " << searchResult.size() << "\n";
 
    int counter = 0;
    for (const auto& result : searchResult) {
      std::cout << counter
        << ": position(x=" << result.Position().X()
        << ",y=" << result.Position().Y()
        << ",z=" << result.Position().Z()
        << "), rotation(x=" << result.RotationVector().X()
        << ",y=" << result.RotationVector().Y()
        << ",z=" << result.RotationVector().Z()
        << "), theta=" << result.Theta().Deg() 
        << "\370, score=" << result.Score() << "\n";
      // \370 = � to display on console
      ++counter;
    }
  }
  catch (const std::exception& error)
  {
    std::cout << error.what() << std::endl;
  }
}