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Vision and Mobile Robotics Laboratory | Software
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CreateVectorArray creates a vector array from a a spin-image stack, eigen-stack and a dimension for the projection. Its projects spin-images onto eigen-spin-images to get each coordinate of the tuple representing the spin-image in the eigen-spin-image basis The tuples are then stored in data structure called a vector array.
CreateVectorArray.c contains the functionality for projecting spin-images onto eigen-spin-images.
By typing 'CreateVectorArray -' the following options (format description default) are printed:
Usage: CreateVectorArray (See CreateVectorArray.html for complete usage)
%S stack filename [required]
%S eigen-stack filename [required]
%d dimension of projected tuples [required]
%S set output vector array filename [required]
-spinMethod %d method of spin image generation
%S stack filename [required]
The stack of spin-images to be projected.
%S eigen-stack filename [required]
The stack of eigen-spin-images that will be projected onto.
%d dimension of projected tuples [required]
The dimension of the tuples in the vector array. I.e., the number of significant eigen-spin-images.
%S set output vector array filename [required]
The name of the output vector array.
-spinMethod %d method of spin image generation
Spin image generation method: 0=vertices only, 1=interpolate in spin-image space. Using method 1 allows matching and recognition between meshes of differing resolution, since they create spin-images based on the entier surface of the mesh rather than just the vertices . Method 1 projects each mesh face into spin-image space (the alpha-beta coordinate system) and then raster scans the projected shape to find the contribution of the face to the spin-image. This idea is described in Toward a General 3-D Matching Engine: Multiple Models, Complex Scenes, and Efficient Data Filtering.
To create a vector array of spin-image projections for a model of a duckie with 5 significant eigen-spin-images use
CreateVectorArray duckie.stack duckie.estack 5 duckie.va