Monocular Visual Simultaneous Localization and Mapping Error: Dot indexing is not supported for variables of this type.

Hi, I am trying to follow the Monocular Visual Simultaneous Localization and Mapping tutorial found here: https://www.mathworks.com/help/vision/ug/monocular-visual-simultaneous-localization-and-mapping.html

The code runs until frame 29 but then then crashed and produces the error message

* Encoding 2 images...done.

Finished creating the image index.

Dot indexing is not supported for variables of this type.

Error in helperAddLoopConnections (line 11)

imageSize = intrinsics.ImageSize;

Error in vSLAM (line 316)

[isLoopClosed, mapPointSet, vSetKeyFrames] = helperAddLoopConnections(mapPointSet, vSetKeyFrames,

validLoopCandidates, currKeyFrameId, currFeatures, currPoints, loopEdgeNumMatches);

and when I go to line 11 in the helperAddLoopConnections function provided in the examples folder the code shows

imageSize = intrinsics.ImageSize;

I've tried changing it to instrinsics(ImageSize) but then the code has the error that there is no variable called ImageSize...

Any help is appreciated, thanks!

[Qu Cao]

Which release are you using? Did you change the code? helperAddLoopConnections doesn't have an intrinsics input.

[Samantha Betts]

I am using R2020B, and I did not change the code, except when I tried to fix that error... is there a way to redownload the helperAddLoopConnections.m file? The one I have had the line imageSize = intrinsics.ImageSize; at line 11.

Thanks!

Answer 1

[Qu Cao]

The example has been updated over the past few releases. For 20b version, please check the following documentation:

https://www.mathworks.com/help/releases/R2020b/vision/ug/monocular-visual-simultaneous-localization-and-mapping.html

[Samantha Betts]

Great, Thanks!