add

Add data to lidar data object

Since R2024b

Syntax

add(lidarData,timestamps,pointClouds)

add(___,Attributes=attributes)

Description

add(lidarData,timestamps,pointClouds) adds the specified point clouds pointClouds, with their corresponding timestamps timestamps, to the lidar data object lidarData.

add(___,Attributes=attributes) adds the optional lidar attributes attributes to the lidar data object lidarData, in addition to the input arguments from the previous syntax.

Note

This function requires the Scenario Builder for Automated Driving Toolbox™ support package. You can install the Scenario Builder for Automated Driving Toolbox support package from the Add-On Explorer. For more information about installing add-ons, see Get and Manage Add-Ons.

Examples

Create Lidar Data Object and Add Data Samples

Specify a path containing a sequence of point cloud files.

files = dir(fullfile(toolboxdir("vision"),"visiondata","pcdmapseq","*.pcd"));
pcds = strcat({files.folder},filesep,{files.name})';

Specify timestamps for each point cloud in the point cloud data.

timestamps = (1:4)';

Create an empty lidar data object.

lidarData = scenariobuilder.LidarData(Name="LidarSensor")

lidarData = 
  LidarData with properties:

                Name: "LidarSensor"

          NumSamples: 0
            Duration: 0
          SampleRate: 0
          SampleTime: 0
          Timestamps: []

         PointClouds: []
    SensorParameters: []

          Attributes: []

Add your data samples to the lidar data object.

add(lidarData,timestamps,pcds)

Visualize the lidar data object.

play(lidarData)

Input Arguments

lidarData — Lidar data

LidarData object

Lidar data, specified as a LidarData object.

timestamps — Timestamps of lidar data

N-element numeric column vector | N-element datetime array | N-element duration array

Timestamps of the lidar data, specified as an N-element numeric column vector, an N-element datetime array, or an N-element duration array. N is the number of timestamps. Each element in the timestamps argument specifies the time at which the corresponding lidar data was collected. If you specify an N-element numeric column vector, units must be in seconds.

pointClouds — Lidar point cloud data

N-by-1 array of pointCloud objects | N-by-1 string array | N-by-1 array of character vectors | string scalar

Lidar point cloud data, specified as an N-by-1 array of pointCloud objects, N-by-1 string array, N-by-1 array of character vectors, or a string scalar. N is the number of timestamps.

If you specify an N-by-1 string array or an N-by-1 array of character vectors, each element in the array represents a point cloud filename, an absolute or relative path of a point cloud file. The point cloud file must be of PLY or PCD format.

If you specify a string scalar, the string must specify an absolute or relative path to a folder containing point cloud files.

attributes — Optional lidar attributes of added lidar data

N-by-1 cell array

Optional lidar attributes of the added lidar data, specified as an N-by-1 cell array. N is the number of timestamps. Each cell contains the additional lidar attributes, such as classification labels, detected at the corresponding timestamp.

Data Types: cell

Version History

Introduced in R2024b