poses
Description
gets the pose information of all meshes in the truncated signed distance field
(TSDF).poseStruct
= poses(mTSDF
)
specifies the mesh IDs of the meshes from which to get the pose information.poseStruct
= poses(mTSDF
,id
)
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
See Also
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