- Load the labeled data which contains the bounding box information.
- Load the original LiDAR data (point cloud).
- Use visualization functions to display the point cloud.
- Overlay the bounding boxes onto the displayed point cloud.
% Load the labeled data from the MAT-file created by Lidar Labeler
labeledData = load('labeledData.mat');
% Load the original LiDAR data (replace with your actual file/data loading)
% It should match the labeled data in terms of dimensions and orientation
originalData = pcread('originalData.pcd'); % Example for .pcd files
% Display the original LiDAR data
pcshow(originalData.Location, 'VerticalAxis','Y', 'VerticalAxisDir', 'Down');
hold on;
title('LiDAR Data with Labeled Bounding Boxes');
% Assuming labeledData contains bounding boxes in a table format with variables
% 'Position' and 'Label' (update these variable names based on your labeledData structure)
for i = 1:size(labeledData.bbox, 1)
% Extract the bounding box information
bbox = labeledData.bbox.Position(i,:);
label = labeledData.bbox.Label{i};
% Define the corners of the bounding box
x = bbox(1);
y = bbox(2);
z = bbox(3);
w = bbox(4);
l = bbox(5);
h = bbox(6);
% Define vertices of the bounding box
vertices = [x, y, z;
x+w, y, z;
x+w, y+l, z;
x, y+l, z;
x, y, z+h;
x+w, y, z+h;
x+w, y+l, z+h;
x, y+l, z+h];
% Define the faces of the bounding box
faces = [1 2 3 4;
5 6 7 8;
1 2 6 5;
2 3 7 6;
3 4 8 7;
4 1 5 8];
% Plot the bounding box
patch('Vertices', vertices, 'Faces', faces, ...
'EdgeColor', 'r', 'FaceColor', 'none', 'LineWidth', 1.5);
% Add the label text
text(x, y, z, label, 'Interpreter', 'none', 'Color', 'r');
end
hold off;
Please adjust the code to match your labeled data's structure. This example assumes that the bounding boxes are stored in a table with columns for the position and label, and that your LiDAR data is in a format that pcread can handle (like .pcd). If your data is in a different format, you'll need to use the appropriate function to load it.
This code will visualize your original LiDAR data and overlay the labeled bounding boxes. The loop goes through each label and draws a box at the specified position. The pcshow function is used to display the point cloud, and the patch function creates the wireframe boxes.
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If you find the solution helpful and it resolves your issue, it would be greatly appreciated if you could accept the answer. Also, leaving an upvote and a comment are also wonderful ways to provide feedback.
It's important to note that the advice and code are based on limited information and meant for educational purposes. Users should verify and adapt the code to their specific needs, ensuring compatibility and adherence to ethical standards.
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