updateRepresentativeView

Update representative view ID and corresponding feature index

Since R2022b

Syntax

wpSet = updateRepresentativeView(wpSet,pointIndices,viewTable)

Description

wpSet = updateRepresentativeView(wpSet,pointIndices,viewTable) updates representative view ID and corresponding feature index of world points in the world point set object, wpSet. The representative view is based on a table of views, viewTable. pointIndices is the index to the world point related to the update.

Examples

Update Representative View of World Point Set

Create an imageviewset object.

vSet = imageviewset;

Add three views related to binary features.

viewId1 = 1;
features1 = binaryFeatures(randi(255,[10, 32],"uint8"));
vSet = addView(vSet,viewId1,Features=features1);
viewId2 = 2; 
features2 = binaryFeatures(randi(255,[10, 32],"uint8"));
vSet = addView(vSet,viewId2,Features=features2);
viewId3 = 3;
features3 = binaryFeatures(randi(255,[10, 32],"uint8"));
vSet = addView(vSet,viewId3,Features=features3);

Create a worldpointset object and add world points

wpSet = worldpointset;
worldPoints = rand(10, 3); % Add world points
wpSet = addWorldPoints(wpSet, worldPoints);

Add correspondences for three views.

pointIndices= 1:10; 
featureIndices1 = randperm(10);
wpSet  = addCorrespondences(wpSet,viewId1,pointIndices,featureIndices1);
featureIndices2 = randperm(10);
wpSet  = addCorrespondences(wpSet,viewId2,pointIndices,featureIndices2);
featureIndices3 = randperm(10);
wpSet  = addCorrespondences(wpSet,viewId3,pointIndices,featureIndices3);

Update representative view.

viewTable = findView(vSet, [viewId1,viewId2,viewId3]);
wpSet = updateRepresentativeView(wpSet,pointIndices,viewTable);

Check representative view ID and feature index.

wpSet.RepresentativeViewId

ans = 10×1

     1
     3
     1
     2
     3
     3
     1
     3
     1
     2

wpSet.RepresentativeFeatureIndex

ans = 10×1

     9
     1
     8
     2
     6
     2
     2
     4
    10
     3

Input Arguments

wpSet — World point set

worldpointset object

World point set, specified as a worldpointset object.

pointIndices — Point index

M-element column vector of integers

Point index, specified as an M-element column vector of integers, where M is the number of world points. The function updates the representative view ID and corresponding feature index of the point that corresponds to the specified index.

viewTable — One or more views

four-column table

One or more connected or indirectly connected views, specified as a four-column table. The table must contain the columns as described in this table.

Column	Description
ViewId	View identifier for the view, specified as a unique integer
AbsolutePose	Absolute pose of the view, specified as a rigidtform3d object.
Features	Feature vectors, specified as an M-by-N matrix of M feature vectors or as a binaryFeatures.
Points	Image points, specified as one of these options: M-by-2 matrix of coordinates in the format [x,y] M-element feature point array. For more details, see Point Feature Types.

Output Arguments

wpSet — World point set

worldpointset object

World point set, returned as a worldpointset object.

Extended Capabilities

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

Version History

Introduced in R2022b