deleteDescriptor

R2026b

Delete descriptors from the loop closure detector

Syntax

deleteDescriptor(loopDetector,viewIDs)

Description

deleteDescriptor(loopDetector,viewIDs) deletes the descriptors that correspond to the view identifiers viewIDs from the loop closure detector loopDetector. viewIDs is a vector of positive integers.

Examples

Delete Descriptor from Loop Closure Detector

Create a loop closure detector.

loopDetector = scanContextLoopDetector;

Create a Velodyne® PCAP file reader.

veloReader = velodyneFileReader('lidarData_ConstructionRoad.pcap','HDL32E');

Read the first and second point cloud scans.

ptCloud1 = readFrame(veloReader,1);
ptCloud2 = readFrame(veloReader,2);

Extract the descriptor for the first point cloud and add it to the loop closure detector.

viewId1 = 1;
descriptor1 = scanContextDescriptor(ptCloud1);
addDescriptor(loopDetector,viewId1,descriptor1);

Extract the second descriptor and add it to the loop closure detector.

viewId2 = 2;
descriptor2 = scanContextDescriptor(ptCloud2);
addDescriptor(loopDetector,viewId2,descriptor2);

Delete the descriptor that corresponds to view identifier 2, from the detector.

deleteDescriptor(loopDetector,viewId2);

Input Arguments

loopDetector — Loop closure detector

scanContextLoopDetector object

Loop closure detector, specified as a scanContextLoopDetector object.

viewIDs — View identifiers

vector of integers

View identifiers, specified as a vector of positive integers.

Extended Capabilities

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

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

Version History

Introduced in R2021b

R2026b: Moved to Point Cloud Toolbox from Computer Vision Toolbox

Starting in R2026b, deleteDescriptor is available in Point Cloud Toolbox™. In releases R2026a and before, deleteDescriptor is available in Computer Vision Toolbox™.