I cant upload my function to jetson nano because it's not supported, how to fix it ? note : that the problem in the function is in (inputParser).

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aly zahran
aly zahran 2023-12-18
回答： Vinayak 2024-1-5
function scan = pc2scannn(ptCloudIn, varargin)
narginchk(1, 10);
% Validate inputs
[tform, scanAngleLimits, scanRangeLimits, elevationAngleTolerance, ...
scanAngleResolution] = parseAndValidateInputs(ptCloudIn, varargin{:});
% Remove invalid points from the point cloud
ptCloudIn = removeInvalidPoints(ptCloudIn);
if ~isequal(tform.T, eye(4, 'like', tform.T))
% Transform the point cloud to 2-D lidar sensor coordinate system in
% case of non-identity transform
ptCloudIn = pctransform(ptCloudIn, invert(tform));
end
% Convert the point cloud to lidar scan
scan = pointCloudToScan(ptCloudIn, scanAngleLimits, scanRangeLimits, ...
elevationAngleTolerance, scanAngleResolution);
end
%--------------------------------------------------------------------------
function [tform, scanAngleLimits, scanRangeLimits, elevationAngleTolerance, ...
scanAngleResolution] = parseAndValidateInputs(ptCloudIn, varargin)
validateattributes(ptCloudIn, {'pointCloud'}, {'scalar'}, mfilename, ...
'ptCloudIn', 1);
p = inputParser;
% Set default values
defaultValues = getDefaultOptionalInputs();
addOptional(p, 'tform', defaultValues.Tform, @checkTform);
addParameter(p, 'ElevationAngleTolerance', ...
defaultValues.ElevationAngleTolerance, @checkElevationAngleTolerance);
addParameter(p, 'ScanAngleResolution', ...
defaultValues.ScanAngleResolution, @checkScanAngleResolution);
addParameter(p, 'ScanAngleLimits', ...
defaultValues.ScanAngleLimits, @checkScanAngleLimits);
addParameter(p, 'ScanRangeLimits', ...
defaultValues.ScanRangeLimits, @checkScanRangeLimits);
% Parse input
parse(p, varargin{:});
tform = p.Results.tform;
elevationAngleTolerance = cast(p.Results.ElevationAngleTolerance, ...
'like', ptCloudIn.Location);
scanAngleResolution = cast(p.Results.ScanAngleResolution, ...
'like', ptCloudIn.Location);
scanAngleLimits = cast(p.Results.ScanAngleLimits, ...
'like', ptCloudIn.Location);
scanRangeLimits = cast(p.Results.ScanRangeLimits, ...
'like', ptCloudIn.Location);
if diff(scanAngleLimits) < scanAngleResolution
error(message('lidar:pc2scan:invalidInput'));
end
if isscalar(elevationAngleTolerance)
elevationAngleTolerance = [-elevationAngleTolerance elevationAngleTolerance];
end
end

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回答（1 个）

Vinayak
Vinayak 2024-1-5
Hi Aly,
Code generation is not supported for the “inputParser” in MATLAB Coder or GPU Coder. You may consider creating your own parser. As you are already having check functions, you can call them in a switch-case or if-else before other checks.
The sample code that can achieve something similar is:
for i = 1:2:length(varargin)
paramName = varargin{i};
paramValue = varargin{i+1};
switch lower(paramName)
case 'tform'
checkTform(paramValue);
tform = paramValue;
case 'elevationangletolerance'
checkElevationAngleTolerance(paramValue);
elevationAngleTolerance = cast(paramValue, 'like', ptCloudIn.Location);
case 'scanangleresolution'
checkScanAngleResolution(paramValue);
scanAngleResolution = cast(paramValue, 'like', ptCloudIn.Location);
case 'scananglelimits'
checkScanAngleLimits(paramValue);
scanAngleLimits = cast(paramValue, 'like', ptCloudIn.Location);
case 'scanrangelimits'
checkScanRangeLimits(paramValue);
scanRangeLimits = cast(paramValue, 'like', ptCloudIn.Location);
otherwise
error('Unknown parameter name: %s', paramName);
end
end

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