poses
Description
returns a table of absolute poses associated with the views contained in the view set,
sensorPoses
= poses(vSet
)vSet
.
Examples
Retrieve Absolute Poses From Image View Set
Load images into the workspace.
imageDir = fullfile(toolboxdir("vision"),"visiondata","structureFromMotion"); images = imageDatastore(imageDir);
Compute features for the first image.
I = im2gray(readimage(images,1)); pointsPrev = detectSURFFeatures(I); [featuresPrev,pointsPrev] = extractFeatures(I,pointsPrev);
Create an image view set and add the extracted feature points to the image view set.
vSet = imageviewset; vSet = addView(vSet,1,Points=pointsPrev);
Compute features and matches for the rest of the images.
for i = 2:numel(images.Files) I = im2gray(readimage(images,i)); points = detectSURFFeatures(I); [features,points] = extractFeatures(I,points); vSet = addView(vSet,i,Features=features,Points=points); pairsIdx = matchFeatures(featuresPrev,features); vSet = addConnection(vSet,i-1,i,Matches=pairsIdx); featuresPrev = features; end
Get the absolute poses.
sensorPoses = poses(vSet)
sensorPoses=5×2 table
ViewId AbsolutePose
______ ________________
1 1x1 rigidtform3d
2 1x1 rigidtform3d
3 1x1 rigidtform3d
4 1x1 rigidtform3d
5 1x1 rigidtform3d
Input Arguments
vSet
— Image view set
imageviewset
object
Image view set, specified as an imageviewset
object.
Output Arguments
sensorPoses
— Absolute poses
two-column table
Absolute poses, returned as a two-column table. The table contains columns as described in this table.
Column | Description |
---|---|
ViewID | View identifier, returned as a positive integer. View identifiers are unique to a specific view. |
AbsolutePose | Absolute pose of the view, returned as a rigidtform3d object. |
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
When generating code, the output argument sensorPoses
is returned
as a structure with fields ViewID and
AbsolutePose.
Version History
Introduced in R2020aR2022b: Supports premultiply geometric transformation convention
Starting in R2022b, most Computer Vision Toolbox™ functions create and perform geometric transformations using the premultiply
convention. Accordingly, the poses
function now returns the
AbsolutePose
value in the sensorPoses
argument as
a rigidtform3d
object, which uses the premultiply convention. Before, the function returned
AbsolutePose
as a rigid3d
object,
which uses the postmultiply convention. For more information, see Migrate Geometric Transformations to Premultiply Convention.
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