poses

Absolute poses associated with views in view set

Syntax

sensorPoses = poses(vSet)

Description

sensorPoses = poses(vSet) returns a table of absolute poses associated with the views contained in the view set, vSet.

Examples

Get Absolute Poses from Point Cloud View Set

Create an empty point cloud view set.

vSet = pcviewset;

Load point cloud data.

data = load('livingRoom.mat');
ptCloud1 = data.livingRoomData{1};
ptCloud2 = data.livingRoomData{2};

Add ptCloud1 to the view set.

absPose1 = rigidtform3d;
vSet = addView(vSet,1,absPose1,'PointCloud',ptCloud1);

Add ptCloud2 to the view set.

vSet = addView(vSet,2,'PointCloud',ptCloud2);

Estimate the rigid transformation between the two point clouds.

ptCloud2Downsampled = pcdownsample(ptCloud2,'gridAverage',0.1);

gridStep = 0.5;
relPose = pcregisterndt(ptCloud2Downsampled,ptCloud1,gridStep);

Add a connection between the two views.

vSet = addConnection(vSet,1,2,relPose);

Compute the accumulated absolute pose.

absPose2 = rigidtform3d(absPose1.A * relPose.A);

Update the absolute pose of second view.

vSet = updateView(vSet,2,absPose2);

Get absolute poses.

sensorPoses = poses(vSet)

sensorPoses=2×2 table
    ViewId      AbsolutePose  
    ______    ________________

      1       1×1 rigidtform3d
      2       1×1 rigidtform3d

Input Arguments

vSet — Point cloud view set

pcviewset object

Point cloud view set, specified as a pcviewset 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 R2020a

R2022b: 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.