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LOAMPoints

Object for storing LOAM feature points

Since R2022a

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Description

The LOAMPoints object enables you to store lidar odometry and mapping (LOAM) feature points for registration. Use the detectLOAMFeatures function to detect feature points and store them in a LOAMPoints object. Use the pcregisterloam function to find the transformation between two LOAMPoints objects.

Creation

Syntax

points = LOAMPoints(location,label,laserID)

Description

points = LOAMPoints(location,label,laserID) constructs a LOAMPoints object from the specified 3-D point coordinates location. Specify the categorical label label for each point, and an identifier laserID for each point that relates to the laser that detected the point.

example

Input Arguments

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Point locations, specified by an M-by-3 matrix of [x y z] coordinates, where M is the number of points.

Categorical label of each point, specified as an M-element categorical array, where M is the number of points. Each point can be of category 'sharp-edge', 'less-sharp-edge', 'planar-surface', or 'less-planar-surface'.

Laser identifier, specified as an M-element vector of positive integers, where M is the number of points. Each element is the ID of the laser that detected the corresponding point.

Properties

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This property is read-only.

Point locations, specified by an M-by-3 matrix of [x y z] coordinates, where M is the number of points.

This property is read-only.

Categorical label of each point, specified as an M-element categorical array, where M is the number of points. Each point can be of category 'sharp-edge', 'less-sharp-edge', 'planar-surface', or 'less-planar-surface'.

This property is read-only.

Number of points, specified as a positive integer.

Object Functions

downsampleLessPlanarDownsample less planar surface points
transformPointsForwardApply forward geometric transformation to points
showVisualize LOAM feature points

Examples

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Open Live Script

Load an organized lidar point cloud from a MAT file into the workspace.

ld = load("drivingLidarPoints.mat");
ptCloudOrg = ld.ptCloud;

Detect lidar odometry and mapping (LOAM) feature points.

points = detectLOAMFeatures(ptCloudOrg);

Visualize the LOAM points.

figure
show(points)

Figure contains an axes object. The axes object contains 2 objects of type scatter.

References

[1] Zhang, Ji, and Sanjiv Singh. “LOAM: Lidar Odometry and Mapping in Real-Time.” In Robotics: Science and Systems X. Robotics: Science and Systems Foundation, 2014. https://doi.org/10.15607/RSS.2014.X.007.

Extended Capabilities

Version History

Introduced in R2022a

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See Also

Objects

Functions