updateMap

Update centroid and point cloud segment locations in map

Since R2021a

Syntax

sMapOut = updateMap(sMapIn,tforms)

Description

sMapOut = updateMap(sMapIn,tforms) updates the centroid and point cloud segment locations by applying the specified transformation tforms.

Examples

Apply Translation and Rotation to Entire Map

Load a map of segments and features from a MAT file into the workspace.

data = load("segmatchMapFullParkingLot.mat");
sMap = data.segmatchMapFullParkingLot;

Visualize the map.

figure
show(sMap)

Change the viewing angle to top-view.

view(2)
title("Initial Map")

Define the transformation.

eulerAngles = [0 0 45]; % degrees
trans = [100 200 0];
tform = rigidtform3d(eulerAngles,trans);
numViews = numel(sMap.ViewIds);
tforms = repmat(tform,numViews,1);

Update the segments and features of each view with the defined transformation.

sMap = updateMap(sMap,tforms);

Visualize the transformed map.

figure
show(sMap)

Change the viewing angle to top-view.

view(2)
title("Transformed Map")

Input Arguments

sMapIn — Original map of segments and features

pcmapsegmatch object

Original map of segments and features, specified as a pcmapsegmatch object.

tforms — Transformations

M-element vector of rigidtform3d objects

Transformations, specified as an M-element vector of rigidtform3d objects. M is the number of views in the map.

Output Arguments

sMapOut — Updated map of segments and features

pcmapsegmatch object

Updated map of segments and features, returned as a pcmapsegmatch object. After the function updates the locations, it removes possible duplicates in the map based on the CentroidDistance property of the map.

The function resets the selected submap, specified by the SelectedSubmap property of the pcmapsegmatch object, to the extent of the map based on the centroid locations.

Tips

• To improve performance, remove all segments from the map using the deleteSegments function.

Version History

Introduced in R2021a

R2022b: Supports rigidtform3d objects

You can now specify tform as a rigidtform3d object, which uses the premultiply convention. Although you can still specify tform as a rigid3d object, this object is not recommended because it uses the postmultiply convention. For more information, see Migrate Geometric Transformations to Premultiply Convention.