Main Content


Visualize LOAM feature points

Since R2022a



show(points) displays the specified lidar odometry and mapping (LOAM) feature points. Surface points are displayed in magenta and edge points are displayed in green.

show(points,Name=Value) specifies additional options using one or more name-value argument. For example, MarkerSize=5 sets the approximate diameter for the marker, in points, to 5. Unspecified arguments have default values.

ax = show(___) returns the plot axes using any combination of input arguments from previous syntaxes.


collapse all

Load an organized lidar point cloud from a MAT file into the workspace.

ld = load("drivingLidarPoints.mat");
ptCloudOrg = ld.ptCloud;

Detect lidar odometry and mapping (LOAM) feature points.

points = detectLOAMFeatures(ptCloudOrg);

Visualize the LOAM points.


Input Arguments

collapse all

Input points, specified as a LOAMPoints object.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: show(points,MarkerSize=5) sets the approximate diameter for the marker, in points, to 5.

Axes on which to display the visualization, specified as an Axes object. To create an Axes object, use the axes function. To display the visualization in a new figure, leave Parent unspecified.

Diameter of the marker, specified as a positive scalar. The value specifies the approximate diameter of the point marker in points, defined by MATLAB® graphics. A marker size greater than 6 can reduce rendering performance.

Output Arguments

collapse all

Plot axes, returned as an axes graphics object. You can set the default center of rotation for the point cloud viewer to the axes center a point in a plot. Set the default behavior using the Computer Vision Toolbox Preferences.

Extended Capabilities

GPU Code Generation
Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.

Version History

Introduced in R2022a