poses

Get poses for one or more meshes in TSDF

Since R2024a

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

mTSDF — Truncated signed distance field for 3-D meshes

meshtsdf object

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 — ID of mesh to get pose information from

nonnegative integer | N-element vector of nonnegative integers

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

poseStruct — Pose information for each mesh in TSDF

structure | N-element array of structures

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