size mismatch ([:? * :?] = [:? * :? * :?]

Hello,

Im trying to use MATLAB Coder where im getting size mismatch ([:? * :?] = [:? * :? * :?] at this line

P(onlyLidarStates,onlyLidarStates) = PL;

Where

P = PAll(:,:,1);

onlyLidarStates = false(10,1);

I went through the features mentioned in this below link But not able get the solution for this.

https://in.mathworks.com/help/coder/ug/matlab-language-features-supported-for-code-generation.html

Thanks,

Vimal

[Stephen23]

If

onlyLidarStates = false(10,1);

then the LHS indexing refers to zero elements of the array P.

If PL is non-empty then that means you are trying to allocate >zero elements to zero elements.

What do you expect to happen if you try to put three cats into zero boxes?

[Vimal Prasath]

Sorry my question was not clear

Im trying to convert helperRadarLidarFusionFcn into C code using MATLAB coder

Im getting Size mismatch error in this line

P(onlyLidarStates,onlyLidarStates) = PL;

function [x,P] = helperRadarLidarFusionFcn(xAll,PAll)
n = size(xAll,2);
dets = zeros(n,1);

% Initialize x and P
x = xAll(:,1);
P = PAll(:,:,1);

onlyLidarStates = false(10,1);
onlyLidarStates([6 7 10]) = true;

% Only fuse this information with lidar
xOnlyLidar = xAll(onlyLidarStates,:);
POnlyLidar = PAll(onlyLidarStates,onlyLidarStates,:);

% States and covariances for intersection with radar and lidar both
xToFuse = xAll(~onlyLidarStates,:);
PToFuse = PAll(~onlyLidarStates,~onlyLidarStates,:);

% Sorted order of determinants. This helps to sequentially build the
% covariance with comparable determinations. For example, two large
% covariances may intersect to a smaller covariance, which is comparable to
% the third smallest covariance.
for i = 1:n
    dets(i) = det(PToFuse(1:2,1:2,i));
end
[~,idx] = sort(dets,'descend');
xToFuse = xToFuse(:,idx);
PToFuse = PToFuse(:,:,idx);

% Initialize fused estimate
thisX = xToFuse(:,1);
thisP = PToFuse(:,:,1);
 
% Sequential fusion
for i = 2:n
    [thisX,thisP] = fusecovintUsingPos(thisX, thisP, xToFuse(:,i), PToFuse(:,:,i));
end

% Assign fused states from all sources
x(~onlyLidarStates) = thisX;
P(~onlyLidarStates,~onlyLidarStates,:) = thisP;

% Fuse some states only with lidar source
valid = any(abs(xOnlyLidar) > 1e-6,1);
xMerge = xOnlyLidar(:,valid);
PMerge = POnlyLidar(:,:,valid);

if sum(valid) > 1
    [xL,PL] = fusecovint(xMerge,PMerge);
elseif sum(valid) == 1
    xL = xMerge;
    PL = PMerge;
else
    xL = 0;
    PL = 1;
end

x(onlyLidarStates) = xL;
P(onlyLidarStates,onlyLidarStates) = PL;

end

This is what im trying to do. Please help me get me through this.