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poses

Get poses for one or more meshes in TSDF

Since R2024a

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    Syntax

    poseStruct = poses(mTSDF)
    poseStruct = poses(mTSDF,id)

    Description

    poseStruct = poses(mTSDF) gets the pose information of all meshes in the truncated signed distance field (TSDF).

    poseStruct = poses(mTSDF,id) specifies the mesh IDs of the meshes from which to get the pose information.

    Input Arguments

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    Truncated signed distance field for 3-D meshes, specified as a meshtsdf object.

    Example: meshtsdf(meshes,TruncationDistance=5) creates a TSDF for the specified meshes with a truncation distance of 5 meters.

    ID of mesh to get pose information from, specified as a nonnegative integer or N-element vector of nonnegative integers. N is the total number of meshes from which to get pose information.

    If a mesh with a specified mesh ID does not exist in mTSDF, then that ID is ignored.

    Example: poseInfo = poses(tsdf,2) gets the pose information from the mesh with an ID of 2 in the TSDF.

    Example: poseInfo = poses(tsdf,[1 2 3]) gets the pose information from meshes with IDs 1, 2, and 3 in the TSDF.

    Output Arguments

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    Pose information for each mesh in the TSDF, returned as a structure or N-element array of structures. Each structure represents the pose information for each mesh in the TSDF, and contains these fields:

    • ID — ID of the mesh in the TSDF.

    • Pose — Pose of the mesh as a 4-by-4 homogeneous transformation matrix.

    If you specify id as a vector of nonnegative integers, then N is equal to the length of id. If you do not specify mesh IDs, then N is equal to the total number of meshes in mTSDF.

    If id contains mesh IDs of meshes that do not exist in mTSDF, then N is equal to the length of id minus the number of nonexistent IDs.

    Extended Capabilities

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

    Version History

    Introduced in R2024a

    See Also

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