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selectSubmap

Select submap within map

Description

example

sMapOut = selectSubmap(sMapIn,roi) selects a submap within the sMapIn using the specified region of interest roi.

Use this function to confine the search space for localization using coarse position estimates.

sMapOut = selectSubmap(sMapIn,center,sz) selects the submap specified by the center and size sz of the submap.

Examples

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Load a segment map from a MAT file.

data = load('segmatchMapFullParkingLot.mat');
sMap = data.segmatchMapFullParkingLot;

Visualize the currently selected submap.

figure
show(sMap,'submap')
title('Initial Selected Submap')

Figure contains an axes object. The axes object with title Initial Selected Submap contains an object of type scatter.

Select a new submap within the map.

center = [0 30 0];
sz = [40 25 10];
sMap = selectSubmap(sMap,center,sz);

Visualize the selected submap.

figure
show(sMap,'submap')
title('New Selected Submap')

Figure contains an axes object. The axes object with title New Selected Submap contains an object of type scatter.

Input Arguments

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Original map of segments and features, specified as a pcmapsegmatch object.

Region of interest, specified as a 6-element vector of the form [xmin xmax ymin ymax zmin zmax] .

Center of the submap, specified as 3-element vector of the form [xc yc zc].

Size of the submap along each axis, specified as 3-element vector of the form [xsz ysz zsz].

Output Arguments

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Updated map of segments and features, returned as a pcmapsegmatch object with the updated SelectedSubmap property.

Tips

  • Use a submap size large enough to include the uncertainty of the position estimates and the range of the sensor used withe findPose.A larger submap can increase computation time during each call to the findPose function, but it can reduce the frequency of submap updates.

See Also

Objects

Functions

Introduced in R2021a