findConnection

Find connections associated with view identifiers

Since R2021b

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Syntax

conn = findConnection(vSet,viewIds1,viewIds2)

Description

conn = findConnection(vSet,viewIds1,viewIds2) finds the connections between the specified view identifiers viewIds1 and viewIds2 and returns the connection attributes conn.

example

Examples

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Open Live Script

Create an empty imageviewset object.

vSet = imageviewset;

Add three views to the view set.

viewId1 = 10;
viewId2 = 5;
viewId3 = 2;
vSet = addView(vSet,viewId1);
vSet = addView(vSet,viewId2);
vSet = addView(vSet,viewId3);

Add a connection between viewId1 and viewId2.

relPose1 = rigidtform3d(eye(3),[0 0 1]);
vSet = addConnection(vSet,viewId1,viewId2,relPose1);

Add a connection between viewId2 and viewId3.

relPose2 = rigidtform3d(eye(3),[0 0 2]);
vSet = addConnection(vSet,viewId2,viewId3,relPose2);

Find the connection between viewId1 and viewId2.

conn = findConnection(vSet,viewId1,viewId2)
conn=1×5 table
    ViewId1    ViewId2       RelativePose       InformationMatrix      Matches   
    _______    _______    __________________    _________________    ____________

      10          5       {1×1 rigidtform3d}      {6×6 double}       {0×2 uint32}

Check the relative pose between viewId1 and viewId2.

conn.RelativePose{:}
ans = 
  rigidtform3d with properties:

    Dimensionality: 3
       Translation: [0 0 1]
                 R: [3×3 double]

                 A: [1     0     0     0
                     0     1     0     0
                     0     0     1     1
                     0     0     0     1]

Input Arguments

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Image view set, specified as an imageviewset object.

Initial view identifiers, specified as an M-element vector of integers. Each view identifier is unique to a specific view.

Connected view identifiers, specified as an M-element vector of integers. Each view identifier is unique to a specific view.

Output Arguments

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Pairwise connections between views, returned as a four-column table. The table contains columns as described in this table. Each row corresponds to one connection.

ColumnDescription
ViewId1View identifier for the first view, specified as a unique integer.
ViewId2View identifier for the second view, specified as a unique integer.
RelativePoseRelative pose of the second view with respect to the first view, specified as a rigidtform3d or simtform3d object.
InformationMatrixInformation matrix, specified as a 6-by-6 matrix (when you specify RelativePose as a rigidtform3d object) or 7-by-7 matrix (when you specify RelativePose as a simtform3d object). The information matrix represents the uncertainty of the measurement error and is the inverse of the covariance matrix.
MatchesIndices of matched feature points between two views, specified as M-by-2 matrix.

Extended Capabilities

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

GPU Code Generation
Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.

Version History

Introduced in R2021b

See Also

Objects