findConnection

Find connections associated with view identifiers

Since R2021b

Syntax

conn = findConnection(vSet,viewIds1,viewIds2)

Description

conn = findConnection(vSet,viewIds1,viewIds2) returns a table containing connection attributes for connections between viewIds1 and viewIds2. viewIds1 and viewIds2 are M-element vectors of view identifiers.

Examples

Find Connection and Relative Pose Between Two Views

Create an empty point cloud view set.

vSet = pcviewset;

Add two views to the view set.

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

Add a connection between viewId1 and viewId2.

vSet = addConnection(vSet,viewId1,viewId2);

Find and display the connection between viewId1 and viewId2.

conn = findConnection(vSet,viewId1,viewId2);
disp(conn)

    ViewId1    ViewId2      RelativePose      InformationMatrix
    _______    _______    ________________    _________________

      10          5       1x1 rigidtform3d      {6x6 double}   

Get the relative pose between viewId1 and viewId2.

relPose = conn.RelativePose;

Input Arguments

vSet — Point cloud view set

pcviewset object

Point cloud view set, specified as a pcviewset object.

viewIds1 — View identifiers

M-element vector

View identifiers, specified as an M-element vector of integers. View identifiers are unique to a specific view.

viewIds2 — View identifiers

M-element vector

View identifiers, specified as an M-element vector of integers. View identifiers are unique to a specific view.

Output Arguments

conn — Table containing connection attributes

four-column table

Table containing view attributes, specified as a four-column table. The table contains the columns ViewId1, ViewId2, RelativePose, and InformationMatrix attribute descriptions.

Extended Capabilities

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

Version History

Introduced in R2021b