addDescriptor

Add descriptor to the loop closure detector

Since R2021b

Syntax

addDescriptor(loopDetector,viewID,descriptor)

Description

addDescriptor(loopDetector,viewID,descriptor) adds the scan context descriptor descriptor that corresponds to the view identifier viewID to the loop closure detector loopDetector.

Compute descriptors to add to the loop closure detector over the same radial range, with the same number of radial and azimuthal bins. Use the viewID input to associate descriptors with a view in pcviewset.

Examples

Add Descriptor to Loop Closure Detector

Create a loop closure detector.

loopDetector = scanContextLoopDetector;

Load point cloud data into the workspace.

data = load("drivingLidarPoints.mat");
ptCloud = data.ptCloud;

Extract a scan context descriptor from the point cloud data.

descriptor = scanContextDescriptor(ptCloud);

Add the descriptor to the loop closure detector.

viewId = 1;
addDescriptor(loopDetector,viewId,descriptor);

Input Arguments

loopDetector — Loop closure detector

scanContextLoopDetector object

Loop closure detector, specified as a scanContextLoopDetector object.

viewID — View identifier

positive integer

View identifier, specified as a positive integer. You can use the same viewID to associate descriptors with a view in a pcviewset.

descriptor — Scan context descriptor

M-by-N matrix

Scan context descriptor, specified as an M-by-N matrix, where M is the number of radial bins and N is the number of azimuthal bins.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2021b