Main Content

show

Visualize LOAM feature points

Description

example

show(points) displays the specified lidar odometry and mapping (LOAM) feature points. Surface points are displayed in magenta and edge points are displayed in green.

show(points,Name=Value) specifies additional options using one or more name-value argument. For example, MarkerSize=5 sets the approximate diameter for the marker, in points, to 5. Unspecified arguments have default values.

ax = show(___) returns the plot axes using any combination of input arguments from previous syntaxes.

Examples

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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.

Input Arguments

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Input points, specified as a LOAMPoints object.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: show(points,MarkerSize=5) sets the approximate diameter for the marker, in points, to 5.

Axes on which to display the visualization, specified as an Axes object. To create an Axes object, use the axes function. To display the visualization in a new figure, leave Parent unspecified.

Diameter of the marker, specified as a positive scalar. The value specifies the approximate diameter of the point marker in points, defined by MATLAB® graphics. A marker size greater than 6 can reduce rendering performance.

Output Arguments

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Plot axes, returned as an axes graphics object. You can set the default center of rotation for the point cloud viewer to the axes center a point in a plot. Set the default behavior using the Computer Vision Toolbox Preferences.

Version History

Introduced in R2022a