sMap = pcmapsegmatch('CentroidDistance',1);

data = load('fullParkingLotData.mat');
ptCloudScans = data.fullParkingLotData;

outerCylinderRadius = 30;
innerCylinderRadius = 3;

distThreshold = 0.5;
angleThreshold = 180;

for n = 1:numel(ptCloudScans);
    ptCloud = ptCloudScans(n);

    % Segment and remove the ground plane.
    groundPtsIdx = segmentGroundFromLidarData(ptCloud,'ElevationAngleDelta',11);
    ptCloud = select(ptCloud,~groundPtsIdx,'OutputSize','full');

    % Select cylindrical neighborhood.
    dists = sqrt(ptCloud.Location(:,:,1).^2 + ptCloud.Location(:,:,2).^2);
    cylinderIdx = dists <= outerCylinderRadius ...
        & dists > innerCylinderRadius;
    ptCloud = select(ptCloud,cylinderIdx,'OutputSize','full');

    % Segment the point cloud.
    [labels, numClusters] = segmentLidarData(ptCloud,distThreshold,angleThreshold,'NumClusterPoints',[50 5000]);

    % Extract features from the point cloud.
    [features,segments] = extractEigenFeatures(ptCloud,labels);

    % Add the features and segments to the map.
    sMap = addView(sMap,n,features,segments);
end

figure; show(sMap);