deleteDescriptor

Delete descriptors from the loop closure detector

Since R2021b

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™.

Version History

Introduced in R2021b