How to add features into a vSlam point cloud?

Hi there,

currently I am working with the monocular vSLAM code: https://de.mathworks.com/help/vision/ug/monocular-visual-simultaneous-localization-and-mapping.html and I have the following problem: In the pictures I use to get the point cloud is a plane of which I have the corners coordinates. Now I would like to add the centre coordinates of that plane as an extra feature to all the features detected by the MatLab code to get the point cloud. Where exactly in the code and the helper fuctions do I add the coordinates and what do I have to write to make sure the coordinates end up as a point in the point cloud?

Thanks kindly for your help!

[yanqi liu]

yes，sir，may be make new feature to be vector，and modify match process function to run

[Tabea Kayser]

I am sorry, I do not quiet get what you mean. Could you explain that a little further?

Thank you!