findConnection

Find connections associated with view identifiers

Since R2021b

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.

Examples

Find Connection Between Two Image View Sets

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

vSet — Image view set

imageviewset object

Image view set, specified as an imageviewset object.

viewIds1 — Initial view identifiers

M-element vector

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

viewIds2 — Connected view identifiers

M-element vector

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

Output Arguments

conn — Connection attributes

four-column table

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.

Column	Description
ViewId1	View identifier for the first view, specified as a unique integer.
ViewId2	View identifier for the second view, specified as a unique integer.
RelativePose	Relative pose of the second view with respect to the first view, specified as a rigidtform3d or simtform3d object.
InformationMatrix	Information 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.
Matches	Indices of matched feature points between two views, specified as M-by-2 matrix.

Extended Capabilities

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