createPoseGraph

Create pose graph

collapse all in page

Syntax

G = createPoseGraph(vSet)

Description

example

G = createPoseGraph(vSet) returns a pose graph derived from the views and connections in the view set, vSet.

You can use the pose graph for inspection, modification, visualization, and pose graph optimization.

Examples

collapse all

Open Live Script

Create an empty image view set. 

vSet = imageviewset;

Define three relative poses. 

relPoses = repelem(rigid3d,3,1);
relPoses(1).Translation = [3 0 0];
relPoses(2).Translation = [5 0 0];
relPoses(3).Translation = [2 0 0]
relPoses = 
  3×1 rigid3d array with properties:

    Dimensionality
    T
    Rotation
    Translation

Accumulate absolute poses. 

absPoses = repelem(rigid3d,4,1);
absPoses(2).T = relPoses(1).T*absPoses(1).T;
absPoses(3).T = relPoses(2).T*absPoses(2).T;
absPoses(4).T = relPoses(3).T*absPoses(3).T;

Add four views to the image view set.

vSet = addView(vSet,1,absPoses(1));
vSet = addView(vSet,2,absPoses(2));
vSet = addView(vSet,3,absPoses(3));
vSet = addView(vSet,4,absPoses(4));

Add three connections to the image view set. 

vSet = addConnection(vSet,1,2,relPoses(1));
vSet = addConnection(vSet,2,3,relPoses(2));
vSet = addConnection(vSet,3,4,relPoses(3));

Add a loop closure connection to the image view set.

relPoses(4).Translation = [9 0 0];
vSet = addConnection(vSet,4,1,relPoses(4));

Create a pose graph. 

G = createPoseGraph(vSet);

Input Arguments

collapse all

View set, specified as an imageviewset object.

Output Arguments

collapse all

Pose graph, returned as a digraph object. The nodes in the object correspond to views, and the edges in the object correspond to connections.

The EndNodes of the Edges in the G digraph correspond to indices into the Views table, (not ViewIds).

Tips

  • The EndNodes of the Edges in the G digraph correspond to indices into the Views table, (not ViewIds).

  • Use Directed and Undirected Graphs (MATLAB) to inspect, modify, or visualize the pose graph.

  • Use the optimizePoseGraph function to optimize the pose graph. Use of this function requires the Navigation Toolbox™.

See Also

Functions

Objects

Introduced in R2020a

Computer Vision Toolbox Documentation
Support