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selectLabelsByType

Select ground truth data by label type

Since R2020b

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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.

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

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

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

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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

See Also

Objects

Functions