poses
Description
returns a table of absolute poses associated with the views contained in the view set,
sensorPoses
= poses(vSet
)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 1x1 rigidtform3d
2 1x1 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 R2020aR2022b: 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.
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