Starting in R2022b, most Computer Vision Toolbox™ functions create and perform geometric transformations using the premultiply
convention. Accordingly, you can now specify the relPose argument as a
rigidtform3d
object, which uses the premultiply convention.
Although you can still specify relPose as a rigid3d object,
this object is not recommended because it uses the postmultiply convention. The
addConnection function automatically converts the relative pose to
the premultiply convention and returns a pcviewset object that represents
the pose as a rigidtform3d object.
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