lidar.labeler.loading.CustomPointCloudSource Class

Namespace: lidar.labeler.loading
Superclasses: vision.labeler.loading.MultiSignalSource

Load point cloud data from custom sources into Lidar Labeler app

Since R2021a

Description

The lidar.labeler.loading.CustomPointCloudSource class creates an interface for loading point cloud data from a custom source into the Lidar Labeler app. This class controls the parameters in the Select Point Cloud dialog box of the app when you set Source Type to Custom Point Cloud.

To access this dialog box, in the app, select Import > Add Point Cloud.

The lidar.labeler.loading.CustomPointCloudSource class is a handle class.

Creation

To create a CustomPointCloudSource object, write a custom reader function to read point cloud data from the data source. Save the file to any folder on the MATLAB^® path. Alternatively, add the folder containing the file to the MATLAB path. Then, use the lidar.labeler.loading.CustomPointCloudSource function.

Syntax

customptCloudSource = lidar.labeler.loading.CustomPointCloudSource

Description

customptCloudSource = lidar.labeler.loading.CustomPointCloudSource creates a CustomPointCloudSource object for loading a signal from custom source. To specify the data source and the parameters required to load the source, use the loadSource method.

Properties

Name — Name of source type

"Custom Point Cloud" (default) | string scalar

Name of the type of source that this class loads, specified as a string scalar.

Attributes:

GetAccess	public
Constant	true
NonCopyable	true

Description — Description of class functionality

"A custom point cloud source reader" (default) | string scalar

Description of the functionality that this class provides, specified as a string scalar.

Attributes:

GetAccess	public
Constant	true
NonCopyable	true

SourceName — Name of data source

[] (default) | string scalar

Name of the data source, specified as a string scalar. Typically, SourceName is the name of the file from which the signal is loaded.

Attributes:

GetAccess	public
SetAccess	protected

SourceParams — Parameters for loading point cloud data from a custom source

[] (default) | structure

Parameters for loading point cloud data from a custom source, specified as a structure.

This table describes the required and optional fields of the SourceParams structure.

Field	Description	Required or Optional
Timestamps	Timestamps for the custom source, specified as a cell array containing a single duration vector of timestamps. In the Select Point Cloud dialog box of the app, you can import the Timestamps parameter from a variable in the MATLAB workspace. The SourceParams property stores these timestamps in the Timestamps field.	Optional

Attributes:

GetAccess	public
SetAccess	protected

SignalName — Names of signals in data source

[] (default) | string vector

Names of the signals that can be loaded from the data source, specified as a string vector.

Attributes:

GetAccess	public
SetAccess	protected

SignalType — Types of signals in data source

[] (default) | vector of vision.labeler.loading.SignalType enumerations

Types of the signals that can be loaded from the data source, specified as a vector of vision.labeler.loading.SignalType enumerations. Each signal listed in the SignalName property is of the type in the corresponding position of SignalType.

Attributes:

GetAccess	public
SetAccess	protected

Timestamp — Timestamps of signals in data source

[] (default) | cell array of duration vectors

Timestamps of the signals that can be loaded from the data source, specified as a cell array of duration vectors. Each signal listed in the SignalName property has the timestamps in the corresponding position of Timestamp.

Attributes:

GetAccess	public
SetAccess	protected

NumSignals — Number of signals in data source

0 (default) | integer

Number of signals that can be read from the data source, specified as a nonnegative integer. NumSignals is equal to the number of signals in the SignalName property.

Attributes:

GetAccess	public
SetAccess	public
Dependent	true
NonCopyable	true

Methods

Public Methods

customizeLoadPanel	customizeLoadPanel(sourceObj,panel) Customize the loading panel for the data source object. In the loading dialog box of the app, this method is invoked when you select the data source type from the Source Type list.
getLoadPanelData	[sourceName,sourceParams] = getLoadPanelData(sourceObj) Obtain the data needed to load the data source object currently selected in the loading panel. In the loading dialog box of the app, this method is invoked when you add a source. The method returns these outputs. sourceName is a string capturing the name of the data source object. sourceParams is a structure with fields containing the parameters required to load the data source object. Both of these outputs are passed to the loadSource method.
loadSource	loadSource(sourceObj,sourceName,sourceParams) Load a data source object into the app. In the loading dialog box of the app, this method is invoked after you add a source and the getLoadPanelData method executes successfully. This method is also invoked when you load the data source object into the MATLAB workspace. When you load the data source object, MATLAB expects that the source has the name sourceName and parameters sourceParams that are needed to load that source and read data from it.
readFrame	frame = readFrame(sourceObj,signalName,tsIndex) Read a frame of data from a signal contained in a data source object at the specified timestamp index. The index must be in the bounds of the length of the timestamps for that signal.

Version History

Introduced in R2021a