selectLabelsByType
Description
selects labels of the types specified by gtLabel
= selectLabelsByType(gTruth
,labelTypes
)labelTypes
from a groundTruthLidar
object gTruth
. The
function returns a corresponding groundTruthLidar
object
gtLabel
that contains only the selected labels. If
gTruth
is a vector of groundTruthLidar
objects, then
the function returns a vector of corresponding groundTruthLidar
objects
that contain only the selected labels.
Examples
Select Ground Truth Lidar Labels by Label Type
Load a groundTruthLidar
object containing labels of various groups, types, and names into the workspace.
lidarDir = fullfile(matlabroot,'toolbox','lidar','lidardata','lidarLabeler'); addpath(lidarDir) load('lidarLabelerGTruth.mat')
Inspect the label definitions. The object contains label definitions of type Cuboid
and Scene
.
lidarLabelerGTruth.LabelDefinitions
ans=4×5 table
Name Type LabelColor Group Description
______________ ______ ________________________ ___________ ___________
{'car' } Cuboid {[0.5862 0.8276 0.3103]} {'vehicle'} {0x0 char}
{'bike' } Cuboid {[ 0.5172 0.5172 1]} {'vehicle'} {0x0 char}
{'pole' } Cuboid {[0.6207 0.3103 0.2759]} {'None' } {0x0 char}
{'vegetation'} Cuboid {[ 0 1 0.7586]} {'None' } {0x0 char}
Create a new groundTruthLidar
object that contains only the label definitions with the type 'Cuboid'
.
labelType = labelType.Cuboid; gtLidarLabel = selectLabelsByType(lidarLabelerGTruth,labelType)
gtLidarLabel = groundTruthLidar with properties: DataSource: [1x1 vision.labeler.loading.PointCloudSequenceSource] LabelDefinitions: [4x5 table] LabelData: [3x4 timetable]
View the label definitions of the returned groundTruthLidar
object.
lidarLabelerGTruth.LabelDefinitions
ans=4×5 table
Name Type LabelColor Group Description
______________ ______ ________________________ ___________ ___________
{'car' } Cuboid {[0.5862 0.8276 0.3103]} {'vehicle'} {0x0 char}
{'bike' } Cuboid {[ 0.5172 0.5172 1]} {'vehicle'} {0x0 char}
{'pole' } Cuboid {[0.6207 0.3103 0.2759]} {'None' } {0x0 char}
{'vegetation'} Cuboid {[ 0 1 0.7586]} {'None' } {0x0 char}
Input Arguments
gTruth
— Ground truth lidar data
groundTruthLidar
object | vector of groundTruthLidar
objects
Lidar ground truth data, specified as a groundTruthLidar
object or vector of
groundTruthLidar
objects.
labelTypes
— Label types
labelType
enumeration | vector of labelType
enumerations
Label types, specified as a labelType
enumeration or vector of
labelType
enumerations.
To view all distinct label types in a groundTruthLidar
object,
enter this command at the MATLAB® command
prompt.
unique(gTruth.LabelDefinitions.LabelType)
Example: labelType.Cuboid
Example: [labelType.Cuboid labelType.Scene]
Output Arguments
gtLabel
— Ground truth with only selected labels
groundTruthLidar
object | vector of groundTruthLidar
objects
Ground truth with only the selected labels, returned as a groundTruthLidar
object or vector of
groundTruthLidar
objects.
Each groundTruthLidar
object in gtLabel
corresponds to a groundTruthLidar
object in the
gTruth
input. The returned objects contain only the labels that
are of the label types specified by the labelTypes
input.
Version History
Introduced in R2020b
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