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selectLabelsByGroup

Select ground truth data by label group name

Description

example

gtLabel = selectLablesByGroup(gTruth,labelGroups) selects ground truth data with the specified label group names labelGroups 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.

Examples

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Load a groundTruthLidar object containing multiple labels of groups, types and names.

lidarDir = fullfile(matlabroot,'toolbox','lidar','lidardata','lidarLabeler');
addpath(lidarDir)
load('lidarLabelerGTruth.mat')

Inspect the label definitions. The object contains two label definitions in a 'vehicle' group. Ungrouped labels are in the group named 'None'.

lidarLabelerGTruth.LabelDefinitions
ans =

  5×5 table

         Name          Type      LabelColor        Group       Description
    ______________    ______    ____________    ___________    ___________

    {'car'       }    Cuboid    {1×3 double}    {'vehicle'}    {0×0 char} 
    {'bike'      }    Cuboid    {1×3 double}    {'vehicle'}    {0×0 char} 
    {'pole'      }    Cuboid    {1×3 double}    {'None'   }    {0×0 char} 
    {'vegetation'}    Cuboid    {1×3 double}    {'None'   }    {0×0 char} 
    {'road'      }    Scene     {1×3 double}    {'None'   }    {0×0 char}

Create a new groundTruthLidar object that contains only the label definitions in the group 'Vehicle' group.

groupNames = 'vehicle';
gtLidarLabel = selectLabelsByGroup(lidarLabelerGTruth,groupNames)
gtLidarLabel = 

  groundTruthLidar with properties:

          DataSource: [1×1 vision.labeler.loading.PointCloudSequenceSource]
    LabelDefinitions: [2×5 table]
           LabelData: [1×2 timetable]

View the labels returned by the function.

gtLidarLabel.LabelDefinitions
ans =

  2×5 table

      Name       Type      LabelColor        Group       Description
    ________    ______    ____________    ___________    ___________

    {'car' }    Cuboid    {1×3 double}    {'vehicle'}    {0×0 char} 
    {'bike'}    Cuboid    {1×3 double}    {'vehicle'}    {0×0 char} 

Input Arguments

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Ground truth lidar data, specified as a groundTruthLidar object or vector of groundTruthLidar objects.

Label group names, specified as a character vector, string scalar, cell array of character vectors, or vector of strings.

To view all distinct label group names in a groundTruthLidar object, enter this command at the MATLAB® command prompt.

unique(gTruth.LabelDefinitions.Group)

Example: 'Vehicles'

Example: "Vehicles"

Example: {'Vehicles','Signs'}

Example: ["Vehicles" "Signs"]

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 the gtLabel output corresponds to a groundTruthLidar object in the gTruth input. The returned objects contain only those labels from the input ground truth objects that are of the label groups specified by the labelGroup input.