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updateConnection

Class: viewSet

Modify a connection between two views in a view set object

Syntax

vSet = updateConnection(vSet,viewId1,viewId2)
vSet = updateConnection(vSet,viewId1,viewId2,Name,Value)

Description

vSet = updateConnection(vSet,viewId1,viewId2) modifies a connection between two views in the specified view set object, vSet.

vSet = updateConnection(vSet,viewId1,viewId2,Name,Value) uses additional options specified by one or more Name,Value pair arguments. Unspecified properties have default values.

Input Arguments

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viewSet object.

View ID 1 in the viewSet object, specified as an integer.

View ID 2 in the viewSet object, specified as an integer.

Name-Value Pair Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: 'Location', '[0,0,0]'

Indices of matched points between two views, specified as the comma-separated pair consisting of 'Matches' and an M-by-2 matrix.

Orientation of the second camera relative to the first camera, specified as the comma-separated pair consisting of 'Orientation' and a 3-by-3 matrix that represents the [x,y,z] orientation of the second camera.

Location of the second camera relative to the first camera, specified as the comma-separated pair consisting of 'Location' and a three-element vector that represents the [x,y,z] location of the second camera in the first camera’s coordinate system.

Output Arguments

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A viewSet object containing the modified connection.

Examples

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Create an empty viewSet object.

vSet = viewSet;

Read a pair of images.

imageDir = fullfile(toolboxdir('vision'),'visiondata','structureFromMotion');
I1 = rgb2gray(imread(fullfile(imageDir,'image1.jpg')));
I2 = rgb2gray(imread(fullfile(imageDir,'image2.jpg')));

Detect interest points in the two images.

points1 = detectSURFFeatures(I1);
points2 = detectSURFFeatures(I2);

Add the points to the viewSet object.

vSet = addView(vSet, 1,'Points',points1);
vSet = addView(vSet, 2,'Points',points2);

Extract feature descriptors.

features1 = extractFeatures(I1,points1);
features2 = extractFeatures(I2,points2);

Match features and store the matches.

indexPairs = matchFeatures(features1, features2);
vSet = addConnection(vSet,1,2,'Matches',indexPairs);

Update the connection to store a relative pose between the views.

vSet = updateConnection(vSet,1,2,'Orientation', eye(3),'Location',[1 0 0]);

Introduced in R2016a