updates

function [xyzPoint, camPoses] = helperMonoVisualSLAM(image)

%   Copyright 2023 The MathWorks Inc.

%#codegen

persistent vslam xyzPointsInternal camPosesInternal

if isempty(vslam)

    % Create a monovslam class to process the image data

    focalLength    = [535.4, 539.2];    % in units of pixels

    principalPoint = [320.1, 247.6];    % in units of pixels

    imageSize      = [480,     640];    % in units of pixels

    intrinsics     = cameraIntrinsics(focalLength, principalPoint, imageSize);

    vslam = monovslam(intrinsics);

end

% Process each image frame

addFrame(vslam, image);

% Get 3-D map points and camera poses

if isempty(xyzPointsInternal) || hasNewKeyFrame(vslam)

    xyzPointsInternal = mapPoints(vslam);

    camPosesInternal = poses(vslam);

end

xyzPoint = xyzPointsInternal;

% Convert camera poses to homogeneous transformation matrices

camPoses = cat(3, camPosesInternal.A);

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