How extract coordinate x,y from LidarSALM object

how do I extract x, y coordinates from LidarSLAM object into array? if I use [scansSLAM, poses] = scansAndPoses (objectSlam); so I only get the data I previously added to with addscan. Is there such a function or is it necessary to write it down?

Answer 1

[Shantanu Dixit]

Hi Michal,

As of MATLAB R2024b, there doesn't seem to be a built in function to directly access the 'x' and 'y' coordinates from the 'lidarSLAM' object. For accessing the information you can extract the x and y coordinates from a 'lidarSLAM' object using 'scansAndPoses' and store them in an array directly.

[~, poses] = scansAndPoses(objectSlam);  % assuming objectSlam is the lidarSLAM object

% poses matrix is nX3 matrix of [x y theta] vectors
xCoordinates = poses(:,1)
yCoordinates = poses(:,2)
theta = poses(:,3)

Hope this helps!