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lidar.labeler.loading.RosbagSource class

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

Load signals from rosbag sources into Lidar Labeler app

Description

The lidar.labeler.loading.RosbagSource class creates an interface for loading a signal from a rosbag file into the Lidar Labeler app. In the Select Point Cloud dialog box of the app, when Source Type is set to Rosbag, this class controls the parameters in that dialog box.

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

This class loads signals from the sensor_msgs/PointCloud2 ROS message type only.

Note

This class requires ROS Toolbox.

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

Creation

When you export labels from a Lidar Labeler app session that contains a rosbag source, the exported groundTruthLidar object stores an instance of this class in its DataSource property.

To create a RosbagSource object programmatically, such as when programmatically creating a groundTruthLidar object, use the lidar.labeler.loading.RosbagSource function (described here).

Description

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

Properties

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

Attributes:

GetAccess
public
Constant
true
NonCopyable
true

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

Attributes:

GetAccess
public
Constant
true
NonCopyable
true

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

Parameters for loading signals from a rosbag data source, specified as an empty structure. When you load a point cloud signal from a rosbag, do not specify the signal timestamps or any other parameters. The loadSource method reads these parameters from the rosbag.

Attributes:

GetAccess
public
SetAccess
protected

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

Attributes:

GetAccess
public
SetAccess
protected

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

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

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

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Introduced in R2020b