surface matching with point pair points
improve original Surface Matching code in opencv based on Joel Vidal[1] and Stefan Hinterstoisser[2] work. using Linemode dataset as test data.
[1] Vidal, J.; Lin, C.-Y.; Lladó, X.; Martí, R. A Method for 6D Pose Estimation of Free-Form Rigid Objects Using Point Pair Features on Range Data. Sensors 2018, 18, 2678. https://doi.org/10.3390/s18082678
[2] Hinterstoisser, Stefan, et al. "Going further with point pair features." European conference on computer vision. Springer, Cham, 2016.