# distance

Compute distance to zero level set for query points

Since R2024a

## Syntax

``dist = distance(mTSDF,points)``
``dist = distance(mTSDF,points,InterpolationMethod=interp)``

## Description

````dist = distance(mTSDF,points)` returns the distance from the specified query points to each voxel in the truncated signed distance field (TSDF). If a voxel lies outside of the truncation distance radius of a query point, then the distance of the query point is equal to the truncation distance.```
````dist = distance(mTSDF,points,InterpolationMethod=interp)` specifies the method to use for interpolating the distance values of nearby voxels.```

## Input Arguments

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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.

Query points, specified as an N-by-3 matrix, where each row represents an xyz point. N is the total number of query points.

Interpolation method, specified as one of these options:

• `"nearest"` — Use distance stored in the voxel at each query point in `points`.

• `"linear"` — Use trilinear interpolation to compute the distance using the eight voxels surrounding each query point in `points`.

• `"quadratic"` — Use quadratic interpolation to compute distance using the 27 voxels surrounding each query point in `points`.

## Output Arguments

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Distance values of voxel at each query point, specified as an N-element vector. N is the total number of query points specified in `points`.

By default, `distance` returns the distance value stored in the nearest voxel at each query point. Use the `interp` argument to use a different interpolation method.

## Version History

Introduced in R2024a