Create dataSource for groundTruthLidar

Chenyu

2025 7 4

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Hi there,

I would like to use groundTruthLidar to prepare a dataset containing the lidar point clouds and bounding boxes to the App "lidarLabeler". First, I need to create the dataSouce. However, the example at link https://uk.mathworks.com/help/lidar/ref/groundtruthlidar.html only gives using vision.labeler.loading.VelodyneLidarSource to create the dataSource. I have extracted .pcd files from a ros2 bag, so supposedly I should use lidar.labeler.loading.CustomPointCloudSource or lidar.labeler.loading.RosbagSource? If so, is there any examples?

Thank you for your time.

Kind regards,

Chenyu

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Vidhi Agarwal 2025-7-8

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Hi @Chenyu,

Use lidar.labeler.loading.CustomPointCloudSource for your folder of .pcd files. RosbagSource is only for ROS1 bags, not extracted .pcd files.

fds = fileDatastore('your_pcd_folder', 'ReadFcn', @(x) pcread(x), 'FileExtensions', '.pcd');
source = lidar.labeler.loading.CustomPointCloudSource;
source.Datastore = fds;
lidarLabeler(source);