selectLabelsByType

R2026b

(To be removed) Select ground truth data by label type

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selectLabelsByType will be removed in a future release. Use the groundTruthMultiSensor object instead. For information on updating your code, see Version History.

Syntax

gtLabel = selectLabelsByType(gTruth,labelTypes)

Description

gtLabel = selectLabelsByType(gTruth,labelTypes) selects labels of the types specified by 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.

example

Examples

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Open Live Script

Load a groundTruthLidar object containing labels of various groups, types, and names into the workspace.

load('lidarLabelerGtruth.mat')

Inspect the label definitions. The object contains label definitions of type Cuboid and Scene.

gTruth.LabelDefinitions
ans = 4×5 table
         Name          Type            LabelColor            Group      Description
    ______________    ______    ________________________    ________    ___________

    {'car'       }    Cuboid    {[0.5862 0.8276 0.3103]}    {'None'}    {0×0 char} 
    {'bike'      }    Cuboid    {[     0.5172 0.5172 1]}    {'None'}    {0×0 char} 
    {'pole'      }    Cuboid    {[0.6207 0.3103 0.2759]}    {'None'}    {0×0 char} 
    {'vegetation'}    Cuboid    {[          0 1 0.7586]}    {'None'}    {0×0 char} 

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Create a new groundTruthLidar object that contains only the label definitions with the type 'Cuboid'.

labelType = labelType.Cuboid;
gtLidarLabel = selectLabelsByType(gTruth,labelType)
gtLidarLabel = 
  groundTruthLidar with properties:

          DataSource: [1×1 vision.labeler.loading.PointCloudSequenceSource]
    LabelDefinitions: [4×5 table]
           LabelData: [4×4 timetable]

View the label definitions of the returned groundTruthLidar object.

gTruth.LabelDefinitions
ans = 4×5 table
         Name          Type            LabelColor            Group      Description
    ______________    ______    ________________________    ________    ___________

    {'car'       }    Cuboid    {[0.5862 0.8276 0.3103]}    {'None'}    {0×0 char} 
    {'bike'      }    Cuboid    {[     0.5172 0.5172 1]}    {'None'}    {0×0 char} 
    {'pole'      }    Cuboid    {[0.6207 0.3103 0.2759]}    {'None'}    {0×0 char} 
    {'vegetation'}    Cuboid    {[          0 1 0.7586]}    {'None'}    {0×0 char} 

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Input Arguments

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Lidar ground truth data, specified as a groundTruthLidar object or vector of groundTruthLidar objects.

Label types, specified as a labelType (Computer Vision Toolbox) 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

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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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See Also

Objects

Functions