updateView

Update view in view set

Syntax

vSet = updateView(vSet,viewId,absPose)

vSet = updateView(___,"PointCloud",ptCloud)

vSet = updateView(vSet,viewTable)

Description

vSet = updateView(vSet,viewId,absPose) updates the view specified by viewId with the absolute pose absPose.

vSet = updateView(___,"PointCloud",ptCloud) specifies the point cloud associated with the view.

vSet = updateView(vSet,viewTable) updates the views specified in the table viewTable.

Examples

Update View in Image View Set

Create an empty image view set.

vSet = imageviewset;

Detect interest points in an image.

imageDir= fullfile(toolboxdir("vision"),"visiondata","structureFromMotion");
I = imread(fullfile(imageDir,"image1.jpg"));
points = detectSURFFeatures(im2gray(I));

Add a view to the image view set.

vSet = addView(vSet,1,Points=points);

Update the absolute pose of the view.

absPose = rigidtform3d(eye(3),[0 0 1]);
vSet = updateView(vSet,1,absPose);

Input Arguments

vSet — Image view set

imageviewset object

Image view set, specified as an imageviewset object.

viewId — View identifier

integer

Point cloud view identifier, specified as a unique integer.

absPose — Absolute pose

rigidtform3d object

Absolute pose, specified as a rigidtform3d object.

ptCloud — Point cloud

pointCloud object

Point cloud, specified as a pointCloud object.

viewTable — New view or set of views

two-column table | three-column table

New view or set of views, specified as a two- or three- column table. The table must contain the columns ViewId and AbsolutePose, and an optional column, Points.

Column	Description
ViewID	View identifier for the view, specified as a unique integer
AbsolutePose	Absolute pose of the view, specified as a rigidtform3d object.
Points	A pointCloud.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: "Points",detectSURFFeatures(im2gray(I))

Features — Feature vectors

M-by-N matrix | binaryFeatures object

Feature vectors, specified as an M-by-N matrix of M feature vectors or as a binaryFeatures object.

Points — Image points

M-by-2 matrix | M-element feature point array

Image points, specified as an M-by-2 matrix of coordinates in the format [x,y] or an M-element feature point array. For more details, see Point Feature Types.

Output Arguments

vSet — View set with updated view

imageviewset object

View set with updated view, returned as an imageviewset object.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

When you specify table as an input argument, then code generation has limitations. For information about the limitations, see Code Generation for Tables (MATLAB Coder) and Table Limitations for Code Generation (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 poses (the absPose argument and the AbsolutePose column of the viewTable argument) as rigidtform3d objects, which use the premultiply convention.

Although you can still specify poses as rigid3d objects, these objects are not recommended because they use the postmultiply convention. The updateView function automatically converts the poses to the premultiply convention and returns an imageviewset object that represents the poses as rigidtform3d objects.

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