CreateResampledStack

Description

CreateResampledStack creates a spin-image stack from two surface meshes representing the same surface. Oriented point bases are taken from the vertices of one surface mesh and the accumulated points come from the vertices of the other surface mesh. This program is the first step in creating a model library for use by RecognizeMesh.

Files

CreateResampledStack.c contains all of the functionality for creating stacks from two meshes. One establishes the oriented points, the other provides the points for accumulation.

Usage

By typing 'CreateResampledStack -' the following options (format description default) are printed:

Usage: CreateResampledStack (See CreateResampledStack for complete usage)

%S accumulation mesh filename [required]

%S basis mesh filename [required]

%S set output stack filename [required]

-genStack %F %d %d %F set spin-image generation parameters

[bin size=1,width=15,height=15,angle threshold=180]

Detailed Usage

%S accumulation mesh filename [required]

Set the filename of the mesh that is used to define the points that will be accumulated during spin-image generation.

%S basis mesh filename [required]

Set the filname of the mesh that will provide the oriented point bases for spin-image generation.

%S set output stack filename [required]

Set the name of the output stack.

-genStack %F %d %d %F set spin-image generation parameters

[bin size=1,width=15,height=15,angle threshold=180]

This option specifies the model spin-image generation parameters. Bin size is set as a multiple of the model resolution. Width is the width of the spin-image in pixels (alpha direction). Height is the height of the spin-image in pixels (beta direction). Spin-images generated will have height/2 pixels above beta = 0 and height/2 pixels below beta = 0. Angle threshold is the threshold on the angle (in degrees) between the oriented point basis and the surface normals of points being accumulated in the spin-image. Detailed analysis of these parameters is given in Chapters 2 and 9 of the Ph.D. dissertation Spin-Images: A Representation for 3-D Surface Matching.

• set bin size between 1 and 4; increase bin size for more averaging.
• set height and width on order of the size of the model.
• set angle threshold to 180 when matching a complete model to a complete scene otherwise set it between 90 and 60 degrees.

Examples

To create a stack from two different samplings of a duckie model use

CreateResampledStack duckie.model.wrl duckie.resample.wrl duckie.resample.stack -genStack 2 10 10 60