addConnection

Add connection between views in view set

Syntax

vSet = addConnection(vSet,viewId1,viewId2)

vSet = addConnection(vSet,viewId1,viewId2,relPose)

vSet = addConnection(vSet,viewId1,viewId2,relPose,infoMat)

Description

vSet = addConnection(vSet,viewId1,viewId2) adds a connection between views viewId1 and viewId2 to the view set, vSet.

vSet = addConnection(vSet,viewId1,viewId2,relPose) specifies the relative pose of viewId2 with respect to viewId1.

vSet = addConnection(vSet,viewId1,viewId2,relPose,infoMat) specifies the information matrix associated with the connection.

Examples

Add Connection to Point Cloud View Set

Create an empty point cloud view set.

vSet = pcviewset;

Load point cloud data.

data = load('livingRoom.mat');
ptCloud1 = data.livingRoomData{1};
ptCloud2 = data.livingRoomData{2};

Add ptCloud1 to the point cloud view set. Specify a rigidtform3d object as the origin.

absPose1 = rigidtform3d;
vSet = addView(vSet,1,absPose1,'PointCloud',ptCloud1);

Add ptCloud2 to the point cloud view set. Specify a rigidtform3d object as the origin.

vSet = addView(vSet,2,absPose1,'PointCloud',ptCloud2);

Estimate the rigid transformation between the two point clouds.

ptCloud2Downsampled = pcdownsample(ptCloud2,'gridAverage',0.1);
gridStep = 0.5;
relPose = pcregisterndt(ptCloud2Downsampled,ptCloud1,gridStep);

Add a connection between the views.

vSet = addConnection(vSet,1,2,relPose);

Compute the accumulated absolute pose.

absPose2 = rigidtform3d(absPose1.A * relPose.A);

Update the absolute pose of second view.

vSet = updateView(vSet,2,absPose2);

Input Arguments

vSet — Point cloud view set

pcviewset object

Point cloud view set, specified as a pcviewset object.

viewId1 — View identifier 1

positive integer

View identifier 1, specified as an integer. View identifiers are unique to a specific view.

viewId2 — View identifier 2

positive integer

View identifier 2, specified as an integer. View identifiers are unique to a specific view.

relPose — Relative pose

rigidtform3d object

Relative pose of viewId2 with respect to viewId1, specified as a rigidtform3d object.

infoMat — Information matrix

6-by-6 numeric matrix

Information matrix associated with the connection, specified as a 6-by-6 numeric matrix.

Output Arguments

vSet — View set with added connections

pcviewset object

View set with added connections between views, returned as a pcviewset object.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2020a

R2022b: Supports premultiply geometric transformation convention

Starting in R2022b, most Computer Vision Toolbox™ functions create and perform geometric transformations using the premultiply convention. Accordingly, you can now specify the relPose argument as a rigidtform3d object, which uses the premultiply convention.

Although you can still specify relPose as a rigid3d object, this object is not recommended because it uses the postmultiply convention. The addConnection function automatically converts the relative pose to the premultiply convention and returns a pcviewset object that represents the pose as a rigidtform3d object.

For more information, see Migrate Geometric Transformations to Premultiply Convention.