Main Content

selectLabelsByName

Select ground truth data by label name

Description

example

gtLabel = selectLabelsByName(gTruth,labelNames) selects ground truth data of the specified label names labelNames 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

collapse all

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

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

Inspect the label definitions. The object contains label definitions with various names.

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 with the name 'car'.

labelNames = 'car';
gtLidarLabel = selectLabelsByName(lidarLabelerGTruth,labelNames)
gtLidarLabel = 

  groundTruthLidar with properties:

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

View the label definitions of the returned groundTruthLidar object.

gtLidarLabel.LabelDefinitions
ans =

  1×5 table

     Name       Type      LabelColor        Group       Description
    _______    ______    ____________    ___________    ___________

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

Input Arguments

collapse all

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

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

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

unique(gTruth.LabelDefinitions.Name)

Example: 'car'

Example: "car"

Example: {'car','lane'}

Example: ["car" "lane"]

Output Arguments

collapse all

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 names specified by the labelNames input.

Introduced in R2020b