updateConnection

R2026b

Update connection between views in a view set

Syntax

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

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

Description

vSet = updateConnection(vSet,viewId1,viewId2,relPose) updates the connection between views viewId1 and viewId2 with the relative pose specified by relPose.

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

Examples

Update Connection in 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 two views to the point cloud view set.

vSet = addView(vSet,1,'PointCloud',ptCloud1);
vSet = addView(vSet,2,'PointCloud',ptCloud2);

Add a connection between the two views.

vSet = addConnection(vSet,1,2);

Estimate the rigid transformation between the two point clouds.

ptCloud2Downsampled = pcdownsample(ptCloud2,'gridAverage',0.1);

gridStep = 0.5;
relPose = pcregisterndt(ptCloud2Downsampled,ptCloud1,gridStep);

Compute the accumulated absolute pose for each view.

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

Update the connection with relative pose between views.

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

Update the views with the absolute poses.

vSet = updateView(vSet,1,absPose1);
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 (Image Processing Toolbox) 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 updated connections

pcviewset object

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

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 R2020a

R2026b: Moved to Point Cloud Toolbox from Computer Vision Toolbox

Starting in R2026b, updateConnection is available in Point Cloud Toolbox™. In releases R2026a and before, updateConnection is available in Computer Vision Toolbox™.

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 (Image Processing Toolbox) object, which uses the premultiply convention.

Although you can still specify relPose as a rigid3d (Image Processing Toolbox) object, this object is not recommended because it uses the postmultiply convention. The updateConnection 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 (Image Processing Toolbox).