mapPoints

baseDownloadURL = "https://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.tgz"; 
dataFolder = fullfile(tempdir,"tum_rgbd_dataset",filesep); 
options = weboptions(Timeout=Inf);
tgzFileName = [dataFolder,"fr3_office.tgz"];
folderExists = exist(dataFolder,"dir");
% Create a folder in a temporary directory to save the downloaded file
if ~folderExists  
    mkdir(dataFolder) 
    disp("Downloading fr3_office.tgz (1.38 GB). This download can take a few minutes.") 
    websave(tgzFileName,baseDownloadURL,options); 
    % Extract contents of the downloaded file
    disp("Extracting fr3_office.tgz (1.38 GB) ...") 
    untar(tgzFileName,dataFolder); 
end

imageFolder = [dataFolder,"rgbd_dataset_freiburg3_long_office_household/rgb/"];
imds = imageDatastore(imageFolder);

intrinsics = cameraIntrinsics([535.4 539.2],[320.1 247.6],[480 640]);
vslam = monovslam(intrinsics);

for i = 1:numel(imds.Files)
    addFrame(vslam,readimage(imds,i))
    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)
    % Get current status of system
    status = checkStatus(vslam);
    % Stop adding frames when tracking is lost
    if status == uint8(0)
        break
end 

while ~isDone(vslam)
    plot(vslam)
reset(vslam)