stereovslam
Feature-based visual simultaneous localization and mapping (vSLAM) with stereo camera
Since R2024a
Description
Use the stereovslam
object to perform visual simultaneous
localization and mapping (vSLAM) with stereo camera data. To learn more about visual SLAM, see
Implement Visual SLAM in MATLAB.
The stereovslam
object extracts Oriented FAST and Rotated BRIEF (ORB)
features from incrementally read images, and then tracks those features to estimate camera
poses, identify key frames, and reconstruct a 3-D environment. The vSLAM algorithm also
searches for loop closures using the bag-of-features algorithm, and then optimizes the camera
poses using pose graph optimization.
Note
To use the stereovslam
object, you must have a Navigation Toolbox™ license.
Creation
Syntax
Description
creates a stereo visual SLAM object, vslam
= stereovslam(intrinsics
,baseline
)vslam
, using the rectified
stereo camera intrinsic parameters intrinsics
, and the
baseline
distance between the rectified left and right
cameras.
The object represents 3-D map points and camera poses in world coordinates, and
assumes the camera pose of the first key frame is an identity rigidtform3d
transform.
Note
The stereovslam
object runs on multiple threads internally,
which can delay the processing of an image frame added by using the addFrame
function. Additionally, the object running on multiple threads means the current frame
the object is processing can be different than the recently added frame.
creates a stereo visual SLAM object vslam
= stereovslam(reprojectionMatrix
,imageSize
)vslam
using the stereo camera
reprojection matrix, reprojectionMatrix
, and the image size,
imageSize
.
sets properties using one or more name-value arguments in addition to any combination of
input arguments from previous syntaxes. For example, vslam
= stereovslam(___,Name=Value
)MaxNumPoints=850
sets the maximum number of ORB feature points to extract from each image to
850
.
Input Arguments
intrinsics
— Rectified stereo camera intrinsic parameters
cameraIntrinsics
object
Rectified stereo camera intrinsic parameters, specified as a cameraIntrinsics
object.
baseline
— Distance between rectified left and right cameras
nonnegative scalar
Distance between the rectified left and right cameras, specified as a nonnegative scalar. Stereo vSLAM algorithms typically track the primary (or left) camera, in which case the baseline is greater than zero. A negative baseline value indicates a negative disparity range, and the vSLAM algorithm tracks the secondary (or right) camera instead.
reprojectionMatrix
— Reprojection matrix
4-by-4 matrix
Reprojection matrix, specified as a 4-by-4 matrix of the form:
where f and (cx, cy) are the focal length and principal point of rectified primary camera, respectively. b is the baseline of the virtual rectified stereo camera.
You can obtain the reprojection matrix by using the rectifyStereoImages
function.
imageSize
— Image size produced by camera
two-element vector
Image size produced by the camera, in pixels, specified as a two-element vector of the form [nrows ncols]. The elements nrows and ncols represent represents the number of rows and columns, respectively.
Properties
DepthScaleFactor
— Depth scale factor
scalar
This property is read-only.
Depth scale factor, specified as a scalar in real-world units (e.g., meters). The depth scale factor depends on the depth sensor, and it is typically expressed in the same unit as the depth measurements provided by the sensor (e.g., millimeters, centimeters, or meters). It is the conversion factor that relates the depth values to real-world distances. In other words, it provides the necessary information to transform the depth measurements into metric scale.
For the world 3-D coordinates
(X,Y,Z), where
Z represents depth at any pixel coordinate
(u,v), Z would be computed as
Z = P/depthScaleFactor
,
where P represents the intensity value of the depth image at pixel
(u,v). You must set this property at object
creation.
ScaleFactor
— Scale factor for image decomposition
1.2
(default) | scalar greater than 1
This property is read-only.
Scale factor for image decomposition, stored as a scalar greater than
1
. The scale factor is also referred to as the pyramid
decimation ratio. Increasing the value of ScaleFactor
reduces the number of pyramid levels, and computation time, but at the cost of tracking
performance. Decreasing this value, increases the number of pyramid levels, which can
improve tracking performance, at the cost of computation speed. The scale value at each
level of decomposition is ScaleFactor
(level –
1), where level is any value in the range [0,
NumLevels
-1]. Given an input image of size
M-by-N, the image size at each level of
composition is
Mlevel-by-Nlevel,
where:
You must set this property at object creation.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint64
| uint32
NumLevels
— Number of decomposition levels
8
(default) | scalar greater than or equal to 1
This property is read-only.
Number of decomposition levels, specified as a scalar greater than or equal to
1
. Increase this value to extract keypoints from the image at more
levels of decomposition. Along with the ScaleFactor
value,
NumLevels
controls the number of pyramid levels on which the object
evaluates feature points.
The image size at each decomposition level limits the number of levels at which you can extract keypoints. The image size at a level of decomposition must be at least 63-by-63 for keypoint detection. The maximum level of decomposition is:
If either the default value or the specified value of
NumLevels
is greater than
levelmax, the object reduces
NumLevels
to levelmax and
returns a warning. You must set this property at object creation.
Data Types: single
| double
| int8
| int16
| int32
| int64
| uint8
| uint16
| uint64
| uint32
MaxNumPoints
— Maximum number of ORB feature points uniformly extracted from each image
1000
| positive integer
This property is read-only.
Maximum number of ORB feature points uniformly extracted from each image, specified
as a positive integer. Values are typically in the range of [800,
2000]
, depending on the resolution of the image. When the number of
extracted features is less than the value of MaxNumPoints
, then the
object uses all feature points. You must set this property at object creation.
DisparityRange
— Disparity range
[0 48]
(default) | two-element vector of integers
This property is read-only.
Disparity range, specified as a two-element vector of integers of the form [min max]. The elements specify the minimum and maximum disparity, respectively. The range must be within the width of the image, and the difference between the minimum and the maximum must be divisible by 16.
UniquenessThreshold
— Minimum value of uniqueness
15
(default) | nonnegative integer
Minimum value of uniqueness, specified as a nonnegative integer.
The function marks the estimated disparity value K for a pixel as unreliable if:
v < V×(1 + 0.01×UniquenessThreshold
),
where V is the sum of the absolute difference (SAD) corresponding to the disparity value K, and v is the smallest SAD value over the whole disparity range, excluding K, K–1, and K+1.
Increasing the value of UniquenessThreshold
results in the function marking disparity values for more pixels as unreliable. To turn
off the uniqueness threshold, set this value to 0
.
TrackFeatureRange
— Range for the number of feature points to identify key frame
[30 100]
| 2-element vector
This property is read-only.
Key frame feature point range, stored as a two-element vector of the form
[lowerLimit
upperLimit]. This property specifies the minimum and maximum numbers
of tracked feature points a frame must contain for the object to identify it as a key
frame. The TrackFeatureRange
and the
SkipMaxFrames
properties enable you to control the frequency at
which frames in the tracking process become key frames. You must set this property at
object creation.
The success of tracking depends on the number of tracked points in the current frame, with one of these results:
Tracking is lost — The number of tracked feature points in the current frame is less than the lowerLimit set by the
TrackFeatureRange
argument. This indicates that the image does not contain enough features, or that the camera is moving too fast. If the object does not accept enough frames as key frames, to improve tracking, you can increase the upperLimit value of theTrackFeatureRange
property and decrease theSkipMaxFrames
property to add key frames more frequently.Tracking is successful — The object identifies the current frame as a key frame. The number of tracked feature points in the current frame is in the range set by
TrackFeatureRange
.Tracking adds key frames too frequently — The number of tracked feature points in the current frame is greater than the upperLimit set by the
TrackFeatureRange
property. This indicates that the camera is moving very slowly, which produces an unnecessary number of key frames. To reduce the frequency at which the object adds key frames and improve tracking, you can increase the value of theSkipMaxFrames
argument.
For more details, see the addFrame
object function.
SkipMaxFrames
— Maximum number of skipped frames
20
| positive integer
This property is read-only.
Maximum number of skipped frames, stored as a positive integer. When the number of
tracked features is consistently greater than the upperLimit set by
the TrackFeatureRange
property, use the
SkipMaxFrames
property to control the frequency of adding new key
frames. The object identifies the current frame as a key frame when the number of
skipped frames since the previous key frame added equals the value of
SkipMaxFrames
.
LoopClosureThreshold
— Minimum number of matched feature points between loop closure key frames
60
| positive integer
This property is read-only.
Minimum number of matched feature points between loop closure key frames, stored as a positive integer.
CustomBagOfFeatures
— Custom bag of features for loop detection
[]
(default) | bagOfFeaturesDBoW
object
Custom bag of features for loop detection, specified as a bagOfFeaturesDBoW
object. The bagOfFeaturesDBoW
enables you to create a custom bag of words (BoW) from
feature descriptors, alongside options to utilize a built-in vocabulary or load a custom
one from a specified file.
Verbose
— Progress information display
[]
(default) | 1
| 2
| 3
Progress information display, specified as []
,
1
, 2
, or 3
. Paths to the
location of log files, when they are created, is displayed on the command
line.
Verbose value | Display description | Display location |
---|---|---|
[] or false | Display is turned off | |
1 or true | Stages of vSLAM execution | Command window |
2 | Stages of vSLAM execution, with details on how the frame is processed, such as the artifacts used to initialize the map. | Log file in a temporary folder |
3 | Stages of vSLAM, artifacts used to initialize the map, poses and map points before and after bundle adjustment, and loop closure optimization data. | Log file in a temporary folder |
Object Functions
addFrame | Add pair of color and depth images to stereo visual SLAM object |
checkStatus | Check status of stereo visual SLAM object |
hasNewKeyFrame | Check if new key frame added in stereo visual SLAM object |
isDone | End-of-processing status for stereo visual SLAM object |
mapPoints | Build 3-D map of world points from stereo vSLAM object |
plot | Plot 3-D map points and estimated camera trajectory in stereo visual SLAM |
poses | Absolute camera poses of stereo key frames |
reset | Reset stereo visual SLAM object |
Examples
Stereo Visual SLAM Using UTIAS Data Set
Perform stereo visual simultaneous localization and mapping (vSLAM) using the data from the UTIAS Long-Term Localization and Mapping Dataset provided by University of Toronto Institute for Aerospace Studies. You can download the data to a directory using a web browser, or by running this code:
ftpObj = ftp("asrl3.utias.utoronto.ca"); tempFolder = fullfile(tempdir); dataFolder = [tempFolder,"2020-vtr-dataset/UTIAS-In-The-Dark/"]; zipFileName = [dataFolder,"run_000005.zip"]; folderExists = exist(dataFolder,"dir");
Create a folder in a temporary directory to save the dowloaded file and extract its contents.
if ~folderExists mkdir(dataFolder) disp("Downloading run_000005.zip (818 MB). This download can take a few minutes.") mget(ftpObj,"/2020-vtr-dataset/UTIAS-In-The-Dark/run_000005.zip",tempFolder); disp("Extracting run_000005.zip (818 MB) ...") unzip(zipFileName,dataFolder); end
Downloading run_000005.zip (818 MB). This download can take a few minutes.
Extracting run_000005.zip (818 MB) ...
Create two imageDatastore
objects to store the stereo images.
imgFolderLeft = [dataFolder,"/images/left/"]; imgFolderRight = [dataFolder,"/images/right/"]; imdsLeft = imageDatastore(imgFolderLeft); imdsRight = imageDatastore(imgFolderRight);
Specify the intrinsic parameters and the baseline of the stereo camera, and use them to create a stereo visual SLAM object. The focal length, principal point, and image size is in pixels, and the baseline is in meters.
focalLength = [387.777, 387.777];
principalPoint = [257.446, 197.718];
imageSize = [384,512];
intrinsics = cameraIntrinsics(focalLength,principalPoint,imageSize);
baseline = 0.239965;
vslam = stereovslam(intrinsics,baseline,MaxNumPoints=600, ...
TrackFeatureRange=[30 120],SkipMaxFrames=5);
Process each pair of stereo images and visualize the camera poses and 3-D map points.
for i = 1:numel(imdsLeft.Files) leftImage = readimage(imdsLeft,i); rightImage = readimage(imdsRight,i); addFrame(vslam,leftImage,rightImage); if hasNewKeyFrame(vslam) % Query 3-D map points and camera poses xyzPoints = mapPoints(vslam); [camPoses,viewIds] = poses(vslam); % Display 3-D map points and camera trajectory plot(vslam); end % Get current status of system status = checkStatus(vslam); % Stop adding frames when tracking is lost if status == uint8(0) break end end
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8267 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-20.8775 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-21.1333 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-21.3345 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-21.5298 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-21.8572 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-22.1565 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-22.6498 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-22.6603 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-23.1114 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-23.1120 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-23.2838 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-23.5244 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-23.7767 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-23.9621 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-24.1335 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-24.3145 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-24.6474 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-24.6474 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-24.9785 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-24.9790 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-25.1179 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-25.4212 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-25.5552 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-25.5552 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-25.7136 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-25.8713 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-26.0141 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-26.1631 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-26.2789 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-26.3865 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-26.4692 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-26.5459 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-26.6380 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-26.8099 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-26.8099 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-26.9855 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-26.9893 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-27.1673 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-27.1701 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-27.2564 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-27.3898 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-27.4455 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-27.4455 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-27.5997 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-27.5997 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-27.7233 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-27.7236 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-27.8455 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-27.9020 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-27.9036 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-28.0610 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3202] YLim: [-28.0610 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3366] YLim: [-28.2330 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 22.3402] YLim: [-28.2342 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 23.4900] YLim: [-28.4101 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 23.4940] YLim: [-28.4176 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 24.5434] YLim: [-28.5445 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 24.9674] YLim: [-28.5863 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 24.9674] YLim: [-28.5894 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 25.9635] YLim: [-28.6531 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 26.4372] YLim: [-28.6706 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 26.4372] YLim: [-28.6706 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 27.2858] YLim: [-28.6889 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 27.9107] YLim: [-28.6911 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 27.9107] YLim: [-28.6918 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 28.8910] YLim: [-28.7013 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 28.8941] YLim: [-28.7013 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 29.9288] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 29.9288] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 31.2199] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 31.8295] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 31.8424] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 32.6267] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 33.4325] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 34.7253] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 34.7253] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 35.2407] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 36.8732] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 36.9061] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 38.4083] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 38.4083] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 39.7431] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 39.7431] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 40.5302] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 41.2973] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 42.8362] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 42.8362] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 43.3260] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 44.1062] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 45.4447] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 45.4447] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 45.9419] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 47.2583] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 47.2583] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 48.2298] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 48.2298] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 49.4447] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 49.8984] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 49.8984] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 50.8233] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 50.8381] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 52.0399] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 52.4681] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 52.4878] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 53.0809] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 54.0394] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 54.0439] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 54.4085] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 55.3695] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 55.3964] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 55.8743] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 56.6814] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 56.6814] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 57.1985] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 57.7072] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 58.4180] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 58.4351] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 59.0269] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 59.0269] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 59.6340] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 59.6374] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 60.1142] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 60.1142] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 60.5705] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 60.5717] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.0336] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.0469] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.3660] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.4285] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.4884] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.5315] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.5804] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.5804] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.7113] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.7441] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.7527] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
Once all the frames have been processed, reset the system.
while ~isDone(vslam) plot(vslam) end
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-21.0351 61.8050] YLim: [-28.7088 3.4051] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
ans = Axes (PointCloud) with properties: XLim: [-10.6973 71.4674] YLim: [-32.9195 6.1858] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
reset(vslam)
Tips
The
stereovslam
object:Does not account for lens distortion. You can undistort the images by using the
undistortImage
function before adding images.Assumes images have been rectified. You can rectify undistorted stereo images by using the
rectifyStereoImages
function before adding images.Runs on multiple threads internally, which can delay the processing of an image frame added by using the
addFrame
function. Additionally, the object running on multiple threads means the current frame the object is processing can be different than the most recently added frame.
The camera poses are the poses of the primary camera, which corresponds to the input image
I1
added by theaddFrame
object function.The object represents 3-D map points and camera poses in world coordinates. The object assumes the camera pose of the first key frame is an identity
rigidtform3d
transform.
References
[1] Mur-Artal and J. D. Tardós, "ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras," in IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1255-1262, Oct. 2017, doi: 10.1109/TRO.2017.2705103.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
To compile the generated code for non-host target, these dependencies must be installed:
OpenCV 4.7.0
g2o Library — Download the g2o library.
eigen3 Library
Version History
Introduced in R2024aR2024b: Set disparity map for stereo vSLAM images
Use the DisparityMap
name-value argument of the addFrame
function.
R2024b: Add ability to specify custom bag of words
Use the CustomBagOfFeatures
name-value argument to specify a custom
bag of words vocabulary as a bagOfFeaturesDBoW
object.
R2024b: Verbose
property enhanced to display progress information
The Verbose
property added values of 1
,
2
, and 3
to display levels of progress
information.
See Also
Objects
Functions
Topics
External Websites
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