selectLabelsByType

Select ground truth data by label type

Since R2020b

Syntax

gtLabel = selectLabelsByType(gTruth,labelTypes)

Description

gtLabel = selectLabelsByType(gTruth,labelTypes) selects labels of the types specified by labelTypes 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

Select Ground Truth Lidar Labels by Label Type

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

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

Inspect the label definitions. The object contains label definitions of type Cuboid and Scene.

lidarLabelerGTruth.LabelDefinitions

ans=4×5 table
         Name          Type            LabelColor              Group       Description
    ______________    ______    ________________________    ___________    ___________

    {'car'       }    Cuboid    {[0.5862 0.8276 0.3103]}    {'vehicle'}    {0x0 char} 
    {'bike'      }    Cuboid    {[     0.5172 0.5172 1]}    {'vehicle'}    {0x0 char} 
    {'pole'      }    Cuboid    {[0.6207 0.3103 0.2759]}    {'None'   }    {0x0 char} 
    {'vegetation'}    Cuboid    {[          0 1 0.7586]}    {'None'   }    {0x0 char} 

Create a new groundTruthLidar object that contains only the label definitions with the type 'Cuboid'.

labelType = labelType.Cuboid;
gtLidarLabel = selectLabelsByType(lidarLabelerGTruth,labelType)

gtLidarLabel = 
  groundTruthLidar with properties:

          DataSource: [1x1 vision.labeler.loading.PointCloudSequenceSource]
    LabelDefinitions: [4x5 table]
           LabelData: [3x4 timetable]

View the label definitions of the returned groundTruthLidar object.

lidarLabelerGTruth.LabelDefinitions

ans=4×5 table
         Name          Type            LabelColor              Group       Description
    ______________    ______    ________________________    ___________    ___________

    {'car'       }    Cuboid    {[0.5862 0.8276 0.3103]}    {'vehicle'}    {0x0 char} 
    {'bike'      }    Cuboid    {[     0.5172 0.5172 1]}    {'vehicle'}    {0x0 char} 
    {'pole'      }    Cuboid    {[0.6207 0.3103 0.2759]}    {'None'   }    {0x0 char} 
    {'vegetation'}    Cuboid    {[          0 1 0.7586]}    {'None'   }    {0x0 char} 

Input Arguments

gTruth — Ground truth lidar data

groundTruthLidar object | vector of groundTruthLidar objects

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

labelTypes — Label types

labelType enumeration | vector of labelType enumerations

Label types, specified as a labelType enumeration or vector of labelType enumerations.

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

unique(gTruth.LabelDefinitions.LabelType)

Example: labelType.Cuboid

Example: [labelType.Cuboid labelType.Scene]

Output Arguments

gtLabel — Ground truth with only selected labels

groundTruthLidar object | vector of groundTruthLidar objects

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 types specified by the labelTypes input.

Version History

Introduced in R2020b