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Update view in view set



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.


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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(rgb2gray(I));

Add a view to the image view set.

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

Update the absolute pose of the view.

absPose = rigid3d(eye(3),[0 0 1]);
vSet = updateView(vSet,1,absPose);

Input Arguments

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Image view set, specified as an imageviewset object.

Point cloud view identifier, specified as a unique integer.

Absolute pose, specified as a rigid3d object.

Point cloud, specified as a pointCloud object.

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.

ViewIDView identifier for the view, specified as a unique integer
AbsolutePoseAbsolute pose of the view, specified as a rigid3d object.
PointsA pointCloud.

Name-Value Pair Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: 'Points',detectSURFFeatures(rgb2gray(i))

Feature vectors, specified as the comma-separated pair consisting of 'Features' and an M-by-N matrix of M feature vectors or as a binaryFeatures object.

Image points, specified as the comma-separated pair consisting of 'Points' and 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

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

Introduced in R2020a